Description
We propose a novel rigorous bundle adjustment for omnidirectional and multi-view cameras, which enables an efficient maximum-likelihood estimation with image and scene points at infinity.
For stabilizing camera orientations – especially rotations – one should generally use points at the horizon over long periods of time within the bundle adjustment that classical bundle adjustment programs are not capable of.
We use a minimal representation of homogeneous coordinates for image and scene points. Instead of eliminating the scale factor of the homogeneous vectors by Euclidean normalization, we normalize the homogeneous coordinates spherically. This way we can use images of omnidirectional cameras with single-view point like fisheye cameras and scene points, which are far away or at infinity.
Software
Matlab code: bacs.zip
Python code :
- https://github.com/zauberzeug/bacs (ported by Falko Schindler 2021) or
- https://pypi.org/project/bacs/ (ported by Falko Schindler 2021)
How-to guide: demo.html
Related Papers