This paper presents an efficient method for solving PnP, PnPf, and PnPfr problems, which are the problems of determining camera parameters from 2D-3D point correspondences. The proposed method is derived based on a simple usage of linear algebra, similarly to the classical DLT methods. Therefore, the new method is easier to understand, easier to implement, and several times faster than the state-of-the-art methods using Gröbner basis. Contrary to the existing Gröbner basis methods, the proposed method consists of three algorithms depending on the number of the points and the 3D point configuration. Experimental results show that the proposed method is as accurate as the state-of-the-art methods even in near-planar scenes while achieving up to three times faster.

This paper describes a sophisticated method to estimate visual direction using iris contours. This method requires only one monocular image taken by a camera with unknown focal length. In order to estimate the visual direction, we assume the visual directions of both eyes are parallel and iris boundaries are circles in 3D space. In this case, the two planes where the iris boundaries reside are also parallel. We estimate the normal vector of the two planes from the iris contours extracted from an input image by using an extended "two-circle" algorithm. Unlike most existing gaze estimation algorithms that require information about eye corners and heuristic knowledge about 3D structure of the eye in addition to the iris contours, our method uses two iris contours only. Another contribution of our method is the ability of estimating the focal length of the camera. It allows one to use a zoom lens to take images and the focal length can be adjusted at any time. The extensive experiments over simulated images and real images demonstrate the robustness and the effectiveness of our method.

This paper describes a scheme to capture a wide-view image using a camera setup with uncalibrated cameras. The setup is such that the optical axes are pointed in divergent directions. The direction of view of the resulting image can be chosen freely in any direction between these two optical axes. The scheme uses eight-parameter perspective transformations to warp the images, the parameters of which are obtained by using a relative orientation algorithm. The focal length and scale factor of the two images are estimated by using Powell's multi-dimensional optimization technique. Experiments on real images show the accuracy of the scheme.

We discussed on relationship between the width of slit ray and the accuracy of the measurement system for surface profile of electric contact. To obtain resolution of 10 [µm], we designed the mechanism which keeps constant the focal length between the object and the lens. As a result, the width of slit ray was clear in the whole surface. A section image could measured exactly and enhanced the resolution.