Lens Model Selection for Visual Tracking

A standard approach to generate a camera pose from images of a single moving camera is Structure From Motion (SfM). When aiming on a practical implementation of SfM often a camera is needed that is lightweight and small. This work analyses which is the best camera and lens for SfM, that is small in size and available on the market. Therefore we compare cameras with fisheye and perspective lenses. It is shown that pose estimation is improved by a fisheye lens. Also some methods are discussed, how the large Field of View can be further exploited to improve the pose estimation.

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