相关论文: Triangulation: Why Optimize?

In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose. By formulating the triangulation problem as $L_1$ and $L_\infty$ minimization of angular reprojection errors, we…

Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…

We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening…

In this paper, it is proposed to solve the problem of triangulation for calibrated omnidirectional cameras through the optimisation of ray-pairs on the projective sphere. The proposed solution boils down to finding the roots of a quadratic…

In this paper, we present a new framework for reducing the computational complexity of geometric vision problems through targeted reweighting of the cost functions used to minimize reprojection errors. Triangulation - the task of estimating…

We study the accuracy of triangulation in multi-camera systems with respect to the number of cameras. We show that, under certain conditions, the optimal achievable reconstruction error decays quadratically as more cameras are added to the…

To address the issue of increased triangulation uncertainty caused by selecting views with small camera baselines in Structure from Motion (SFM) view selection, this paper proposes a robust error-resistant view selection method. The method…

Multi-view triangulation is the gold standard for 3D reconstruction from 2D correspondences given known calibration and sufficient views. However in practice, expensive multi-view setups -- involving tens sometimes hundreds of cameras --…

We propose an approach based on convex relaxations for certifiably optimal robust multiview triangulation. To this end, we extend existing relaxation approaches to non-robust multiview triangulation by incorporating a truncated least…

The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects.…

We address the problem of generalizability for multi-view 3D human pose estimation. The standard approach is to first detect 2D keypoints in images and then apply triangulation from multiple views. Even though the existing methods achieve…

When faced with multiple minima of an "inner-level" convex optimization problem, the convex bilevel optimization problem selects an optimal solution which also minimizes an auxiliary "outer-level" convex objective of interest. Bilevel…

Two-view triangulation is a problem of minimizing a quadratic polynomial under an equality constraint. We derive a polynomial that encodes the local minimizers of this problem using the theory of Lagrange multipliers. This offers a simpler…

Bilevel optimization is an important class of optimization problems where one optimization problem is nested within another. While various methods have emerged to address unconstrained general bilevel optimization problems, there has been a…

Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…

Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…

Nonlinear lens distortion rectification is a common first step in image processing applications where the assumption of a linear camera model is essential. For rectifying the lens distortion, forward distortion model needs to be known.…

3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…

To reconstruct the points in three dimensional space, we need at least two images. In this paper we compared two different methods: the first uses only two images, the second one uses three. During the research we measured how camera…

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…