The Number of Independent Kruppa Constraints from N Images

来源 :计算机科学技术学报(英文版) | 被引量 : 0次 | 上传用户:ten_wang
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It is well known that without any priori knowledge on the scene, camera motion and camera intrinsic parameters, the only constraint between a pair of images is the so-called epipolar constraint, or equivalently its fundamental matrix. For each fundamental matrix, at most two independent constraints on the cameras’ intrinsic parameters are available via the Kruppa equations. Given N images, N(N-1)/2 fundamental matrices appear, and N(N- 1) Kruppa constraints are available. However, to our knowledge, a formal proof of how many independent Kruppa constraints exist out of these N(N - 1) ones is unavailable ir the literature. In this paper, we prove that given N images captured by a pinhole camera with varying parameters and under general motion, the number of independent Kruppa constraints is (5N - 9) (N > 2),and it is less than that of independent constraints from the absolute quadric by only one. This one-constraint-less property of the Kruppa equations is their inherent deficiency and is independent of camera motion. This deficiency is due to their failure of automatic enforcement of the rank-three-ness on the absolute quadric.
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