On the Recovery of Cameras from Fundamental Matrices

The viewing graph is a compact tool to encode the geometry of multiple views: nodes represent uncalibrated cameras and edges represent fundamental matrices (when available). Most research focuses on theoretical analyses, exploring for which viewing graphs it is possible (in principle) to retrieve cameras from fundamental matrices, in the sense that the problem admits a unique solution for noiseless data. However, the practical task of recovering cameras from noisy fundamental matrices is still open, as available methods are limited to special graphs (such as those covered by triplets). In this paper, we develop the first method that can deal with the recovery of cameras from noisy fundamental matrices in a general viewing graph. Experimental results demonstrate the promise of the proposed approach on a variety of synthetic and real scenarios.