A Novel Approach in Computer Vision and Photogrammetry to Recover the Relative Position and Orientation of Cameras in Stereo Images Using the SVD Decomposition of the Essential Matrix

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Varshosaz Masood; Afary Alireza; SAADAT SERESHT MOHAMMAD; MOJARADI BARAT

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Journal: JOURNAL OF SOFT COMPUTING AND INFORMATION TECHNOLOGY (JSCIT) Year:2019 | Volume:8 | Issue:2 Page(s): 76-88

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Title

A Novel Approach in Computer Vision and Photogrammetry to Recover the Relative Position and Orientation of Cameras in Stereo Images Using the SVD Decomposition of the Essential Matrix

Author(s)

Varshosaz Masood | Afary Alireza | SAADAT SERESHT MOHAMMAD | MOJARADI BARAT | Issue Writer Certificate

Keywords

Essential MatrixQ1

Relative OrientationQ1

Position and Orientation RecoveryQ1

SVDQ1

Abstract

The relative position and orientation parameters between two cameras in a stereo pair are included within the Essential Matrix, E. The decomposition of this matrix into a rotation matrix, R, and a skew-symmetric matrix, S, is an efficient tool for retrieving the relative position and orientation of the cameras. In this paper, a new method is proposed to recover these parameters using the singular value decomposition (SVD) of the Essential Matrix. First, using the SVD properties, the existing formulas in the decomposition of the Essential Matrix into a rotation matrix and a skew-symmetric matrix are directly proved. Then, based on these results, a new method in the decomposition of the Essential Matrix using SVD will be presented. The Essential Matrix decomposition in this method is accomplished by extracting the base vector of the left null space of the Essential Matrix and then followed by SVD decomposition of the skew-symmetric matrix corresponding to this base vector. In this method, the initial mapping of the Essential Matrix, recovered from the erroneous coordinates of the corresponding image points in two images, into the space of Essential matrices does not require. The numerical analysis shows that the results of the new presented method are correct and identical with the results of the existing formulas.

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APA: Copy

Varshosaz, Masood, Afary, Alireza, SAADAT SERESHT, MOHAMMAD, & MOJARADI, BARAT. (2019). A Novel Approach in Computer Vision and Photogrammetry to Recover the Relative Position and Orientation of Cameras in Stereo Images Using the SVD Decomposition of the Essential Matrix. JOURNAL OF SOFT COMPUTING AND INFORMATION TECHNOLOGY (JSCIT), 8(2 ), 76-88. SID. https://sid.ir/paper/245868/en

Vancouver: Copy

Varshosaz Masood, Afary Alireza, SAADAT SERESHT MOHAMMAD, MOJARADI BARAT. A Novel Approach in Computer Vision and Photogrammetry to Recover the Relative Position and Orientation of Cameras in Stereo Images Using the SVD Decomposition of the Essential Matrix. JOURNAL OF SOFT COMPUTING AND INFORMATION TECHNOLOGY (JSCIT)[Internet]. 2019;8(2 ):76-88. Available from: https://sid.ir/paper/245868/en

IEEE: Copy

Masood Varshosaz, Alireza Afary, MOHAMMAD SAADAT SERESHT, and BARAT MOJARADI, “A Novel Approach in Computer Vision and Photogrammetry to Recover the Relative Position and Orientation of Cameras in Stereo Images Using the SVD Decomposition of the Essential Matrix,” JOURNAL OF SOFT COMPUTING AND INFORMATION TECHNOLOGY (JSCIT), vol. 8, no. 2 , pp. 76–88, 2019, [Online]. Available: https://sid.ir/paper/245868/en

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