@InProceedings{Torii-etal-CVVT:E2M-2010-InProceedings,
  IS = { zkontrolovano 01 Apr 2012 },
  UPDATE  = { 2011-01-14 },
  author =     { Torii, Akihiko and Kukelova, Zuzana and 
                 Bujnak, Martin and Pajdla, Tom{\'a}{\v s} },
  title =      { The six point algorithm revisited },
  year =       { 2011 },
  pages =      { 184-193 },
  booktitle =  { Computer Vision - ACCV 2010 Workshops, 
                 Revised Selected Papers, Part II. },
  alt_booktitle =  { Computer Vision in Vehicle Technology: From Earth to Mars },
  editor =     { Koch, Reinhard and Huang, Fay },
  publisher =  { Springer },
  series =     { LNCS },
  address  =   { Berlin, Germany },
  isbn =       { 978-3-642-22818-6 },
  book_pages = { 469 },
  month =      { November },
  day =        { 6 },
  venue =      { Queenstown, New Zealand },
  prestige =   { international },
  annote = {This paper presents an algorithm for estimating camera
    focal length from tentative matches in a pair of images, which
    works robustly in practical situations such as automatic
    computation of structure and camera motion from unknown
    photographs, e.g. from the web or from various instruments mounted
    on a vehicle. We extend the standard 6-pt algorithm based on the
    observations: (i) the quality of the estimation of this algorithm
    is strongly correlated with the ratio of the singular values of
    the essential matrix computed from inliers, which is calibrated by
    using the estimated focal length, returned by RANSAC and (ii) the
    reprojection error of the affine camera model, fit to the inliers,
    predicts the uncertainty in the estimated focal
    length. Furthermore, for scenes with dominant plane we propose a
    novel algorithm calculating relative orientation and unknown focal
    length given a plane homography and a single off the plane point
    correspondence.  The performance of the proposed algorithm is
    demonstrated on a set of real images having different focal
    lengths.},
  keywords =  { focal length, 6-pt algorithm, RANSAC },
  project =   { FP7-SPACE-218814 PRoVisG, MSM6840770038, 
                SGS10/072/OHK4/1T/13 },
  volume =    { 6469 },
}