Depth distortion under calibration uncertainty

There have been relatively little works to shed light on the effects of errors in the intrinsic parameters on motion estimation and scene reconstruction. Given that the estimation of the extrinsic and intrinsic parameters apts to be imprecise, it is important to study the resulting distortion on the recovered structure. By making use of the iso-distortion framework, we explicitly characterize the geometry of the distorted space recovered from 3D motion with freely varying focal length. This characterization allows us: (1) to investigate the effectiveness of the visibility constraint in disambiguating errors in calibration parameters by studying the negative distortion regions and (2) to make explicit those ambiguous error situations under which the visibility constraint is not effective. An important finding is that under these ambiguous situations, the direction of heading can be accurately recovered and the structure recovered experienced a well-behaved distortion. The distortion is...

• Type: Journal
• Year: 2004
• Where: CVIU
• Authors: Loong Fah Cheong, Chin-Hwee Peh
• Keywords: CVIU 2004, Focal Length, Intrinsic Parameters, Visibility Constraint