Globally Optimal Algorithms for Stratified Autocalibration |
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Authors: | Manmohan Chandraker Sameer Agarwal David Kriegman Serge Belongie |
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Affiliation: | (3) School of Economics and Business Engineering, University of Karlsruhe, Karlsruhe, Germany; |
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Abstract: | We present practical algorithms for stratified autocalibration with theoretical guarantees of global optimality. Given a projective
reconstruction, we first upgrade it to affine by estimating the position of the plane at infinity. The plane at infinity is
computed by globally minimizing a least squares formulation of the modulus constraints. In the second stage, this affine reconstruction
is upgraded to a metric one by globally minimizing the infinite homography relation to compute the dual image of the absolute
conic (DIAC). The positive semidefiniteness of the DIAC is explicitly enforced as part of the optimization process, rather
than as a post-processing step. |
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Keywords: | |
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