Name
Abstract | ||
|---|---|---|
An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial in closed form and, subsequently, finding its roots. It is the first algorithm well-suited for numerical implementation that also corresponds to the inherent complexity of the problem. We investigate the numerical precision of the algorithm. We also study its performance under noise in minimal as well as overdetermined cases. The performance is compared to that of the well-known 8 and 7-point methods and a 6-point scheme. The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay. The real-time system uses solely visual input and has been demonstrated at major conferences. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/TPAMI.2004.17 | Pattern Analysis and Machine Intelligence, IEEE Transactions |
Keywords | Field | DocType |
calibration,cameras,image reconstruction,motion estimation,polynomials,6-point scheme,7-point methods,8-point methods,camera calibration,ego-motion estimation,five-point relative pose problem,imaging geometry,motion estimation,numerical precision,real-time system,relative camera pose,robust hypothesize-and-test framework,scene reconstruction,structure estimation,tenth degree polynomial,Imaging geometry,camera calibration,ego-motion estimation,motion,relative orientation,scene reconstruction.,structure from motion | Structure from motion,Iterative reconstruction,Computer vision,Overdetermined system,Mathematical optimization,Essential matrix,Polynomial,Computer science,Degree of a polynomial,Camera resectioning,Artificial intelligence,Motion estimation | Journal |
Volume | Issue | ISSN |
26 | 6 | 0162-8828 |
Citations | PageRank | References |
344 | 21.11 | 24 |
Authors | ||
1 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Nistér | 1 | 2265 | 118.02 |