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This paper presents an algorithm-independent geometrical analysis of the behavior of differential Structure from Motion (SFM) algorithms when there are errors in intrinsic parameters of the camera. We demonstrate both analytically and in simulation how uncertainty in the calibration parameters gets propagated to motion estimates in a differential setting. In particular, we studied how erroneous focal...
After intensive research in the past two decades, the geometric and computational aspect of structure from motion (SFM) seems well studied. However, the state of the art is that a practical SFM algorithm that can handle general visual tasks in the real world is still unavailable. One of the contributing reasons is that the first step of SFM involves solving an ill-conditioned problem. In this paper,...
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