Radial Distortion Self-Calibration

In cameras with radial distortion, straight lines in space are in general mapped to curves in the image. Although epipolar geometry also gets distorted, there is a set of special epipolar lines that remain straight, namely those that go through the distortion center. By finding these straight epipolar lines in camera pairs we can obtain constraints on the distortion center(s) without any calibration object or plumbline assumptions in the scene. Although this holds for all radial distortion models we conceptually prove this idea using the division distortion model and the radial fundamental matrix which allow for a very simple closed form solution of the distortion center from two views (same distortion) or three views (different distortions). The non-iterative nature of our approach makes it immune to local minima and allows finding the distortion center also for cropped images or those where no good prior exists. Besides this, we give comprehensive relations between different undistortion models and discuss advantages and drawbacks.

Determinants of environmental disclosure in the annual reports of large companies operating in Portugal

Similarly to what has happened in other countries, since the early 1990s Portuguese companies have developed corporate environmental reporting practices in response to internal and external factors. This paper is based on empirical research directed to both the study of environmental reporting practices developed by Portuguese companies and the identification of the factors that explain the extent to which these companies disclose environmental information. This study focuses on the environmental disclosures made in the annual reports by a sample of 109 large firms operating in Portugal during the period 2002-04. Using the content analysis technique we have developed an index in order to assess the presence of the environmental disclosures in companies’ annual reports and their breadth. Based on the extant literature, several characteristics relating to firms’ attributes were selected and their influence on the level of environmental disclosure was tested empirically. The selected explanatory variables were firm size, industry membership, profitability, foreign ownership, quotation on the stock market and environmental certification. The results reveal that, in spite of the fact that the level of environmental information disclosed during the period 2002-04 is low, the extent of environmental disclosure has increased as well as the number of Portuguese companies that disclose environmental information. Moreover, the firm size and the fact that a company is listed on the stock market are positively related to the extent of environmental disclosure. This study adds to the international research on environmental disclosure by providing empirical data from a country, Portugal, where empirical evidence is still relatively unknown, extending the scope of the current understanding of the environmental reporting practices.