A fast minimal solver for absolute camera pose with unknown focal length and radial distortion from four planar points
This addresses camera calibration and 3D reconstruction in computer vision, but it is incremental as it builds on existing minimal solver approaches.
The paper tackles the problem of estimating absolute camera pose from four planar points with unknown focal length and radial distortion, resulting in a solver derived from a univariate six-degree polynomial that is fast and numerically stable.
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial distortion is modelled using the division model with one parameter. We show that the solutions to this problem can be found from a univariate six-degree polynomial. This results in a very fast and numerically stable solver.