Related papers: An Algorithmic Solution to the Five-Point Pose Pro…
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…
We give a non-iterative solution to a particular case of the four-point three-views pose problem when three camera centers are collinear. Using the well-known Cayley representation of orthogonal matrices, we derive from the epipolar…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
Relative pose estimation, a fundamental computer vision problem, has been extensively studied for decades. Existing methods either estimate and decompose the essential matrix or directly estimate the rotation and translation to obtain the…
We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…
Robotics and computer vision problems commonly require handling rigid-body motions comprising translation and rotation - together referred to as pose. In some situations, a vectorial parameterization of pose can be useful, where elements of…
Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…
A hierarchical interval subdivision is shown to lead to a $p$-adic encoding of image data. This allows in the case of the relative pose problem in computer vision and photogrammetry to derive equations having 2-adic numbers as coefficients,…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…