Work

Linear N-point camera pose determination

Year: 1999

Type: article

Abstract: The determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision and space resection in photogrammetry. It is well-known that from three corresponding points there are at most four algebraic solutions. Less appears to be known about the cases of four and five corresponding points. We propose a family of linear methods that yield a unique solution to 4- and 5-point pose determination for generic reference points. We first review the 3-point algebraic method. Then we present our two-step, 4-point and one-step, 5-point linear algorithms. The 5-point method can also be extended to handle more than five points. Finally, we demonstrate our methods on both simulated and real images. We show that they do not degenerate for coplanar configurations and even outperform the special linear algorithm for coplanar configurations in practice.

Source: IEEE Transactions on Pattern Analysis and Machine Intelligence

DOI: 10.1109/34.784291

Authors: Long Quan, Zhongdan Lan

Institutions: Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Centre Inria de l'Université Grenoble Alpes, Institut National de la Recherche Scientifique

Language: English

Topic: Advanced Vision and Imaging

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2134237713

FWCI: 9.121

Cites: 29

Cited by: 637

Related to: 10