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A 2 , U %;# ,
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Percentage of success
80
60
40
20
0
0
1
2
3
4
5
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x
(γ̂x , γ̂y , s) = (1, 1, 0)
σ ≈ 0.25
M
y
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≈ .97
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k = Tk
k0
k0
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k0 = Tk0
K 0 R0
k0
H = I3×3
R0
kK0 R0 − R0 kF = min kKR − RkF .
KR∈V
Ri
Ri =
#6 A
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;
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0
k3
k2
u1
v1
−
u2
v2
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=
1
0
3
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= 21 (u21 + u22 + u23 ) + 22 (v12 + v22 + v32 ) + 23 (v12 + v22 + v32 )
= 21 + 22 + 23 ,
=
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det(R) = +1
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.
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Affine projection without rescaling
Affine projection with rescaling
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γ̂x
x0
x
x
3×3
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∆K
A 2 , U %;# , ?
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C #A!06*# ,= >AD( A! D<*23$%**,+
( 4 16 "5!;! D% = *23104 16A#
C ! + ,? ? *#: # M #;:**2 D;661S
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f = 100
(0, 0, 0)
σ =1
↔
, ? ?T% U7%;#&-$8_%;. 6
15
10
4
5
2
0
0
−5
−2
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−4
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−6
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0
2
4
6
5
−20
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0
5
10
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−5
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0
5
10
15
%7D*6#46* 6 $! );?
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Failures for camera centre trajectory
no regularization: −o−
14
no regularization: −o−
50
with regularization: −x−
with regularization: −x−
40
Percent
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12
10
30
8
20
6
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4
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10
12
14
16
18
0
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6
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18
16
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18
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50
Camera centre trajectory
no regularization: −o−
with regularization: −x−
45
40
Failures for camera centre trajectory
no regularization: −o−
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35
Percent
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14
12
30
25
20
10
15
10
8
5
6
0.5
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60
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