Unknown Radial Distortion Centers in Multiple View Geometry Problems

The radial undistortion model proposed by Fitzgibbon and the radial fundamental matrix were early steps to extend classical epipolar geometry to distorted cameras. Later minimal solvers have been proposed to find relative pose and radial distortion, given point correspondences between images. However, a big drawback of all these approaches is that they require the distortion center to be exactly known. In this paper we show how the distortion center can be absorbed into a new radial fundamental matrix. This new formulation is much more practical in reality as it allows also digital zoom, cropped images and camera-lens systems where the distortion center does not exactly coincide with the image center. In particular we start from the setting where only one of the two images contains radial distortion, analyze the structure of the particular radial fundamental matrix and show that the technique also generalizes to other linear multi-view relationships like trifocal tensor and homography. For the new radial fundamental matrix we propose different estimation algorithms from 9,10 and 11 points. We show how to extract the epipoles and prove the practical applicability on several epipolar geometry image pairs with strong distortion that - to the best of our knowledge - no other existing algorithm can handle properly.

On universal central extensions of Hom-Leibniz algebras

In the category of Hom-Leibniz algebras we introduce the notion of Hom-corepresentation as adequate coefficients to construct the chain complex from which we compute the Leibniz homology of Hom-Leibniz algebras. We study universal central extensions of Hom-Leibniz algebras and generalize some classical results, nevertheless it is necessary to introduce new notions of α-central extension, universal α-central extension and α-perfect Hom-Leibniz algebra due to the fact that the composition of two central extensions of Hom-Leibniz algebras is not central. We also provide the recognition criteria for these kind of universal central extensions. We prove that an α-perfect Hom-Lie algebra admits a universal α-central extension in the categories of Hom-Lie and Hom-Leibniz algebras and we obtain the relationships between both of them. In case α = Id we recover the corresponding results on universal central extensions of Leibniz algebras.