This paper focuses on the problem of estimating the fundamental matrix with unknown radial distortion. The general method to the problem is Gröbner basis method. That solves nontrivial polynomial equations formed by a pair of correspondences under one-parameter division model for radial distortion, which is nonconvex and no noise-resistant. Using results from polynomial optimization tools and rank minimization method, this paper shows that the problem can be solved as a sequence of convex semi-definite programs. In the experiments, we show that the proposed method works well and is more noise-resistant.
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