Paper Info
Title
A General and Simple Method for Camera Pose and Focal Length Determination
Abstract
In this paper, we revisit the pose determination problem of a partially calibrated camera with unknown focal length, hereafter referred to as the P(n)Pf problem, by using (n) ((n ≥ 4)) 3D-to-2D point correspondences. Our core contribution is to introduce the angle constraint and derive a compact bivariate polynomial equation for each point triplet. Based on this polynomial equation, we propose a truly general method for the P(n)Pf problem, which is suited both to the minimal 4-point based RANSAC application, and also to large scale scenarios with thousands of points, irrespective of the 3D point configuration. In addition, by solving bivariate polynomial systems via the Sylvester resultant, our method is very simple and easy to implement. Its simplicity is especially obvious when one needs to develop a fast solver for the 4-point case on the basis of the characteristic polynomial technique. Experiment results have also demonstrated its superiority in accuracy and efficiency when compared with the existing state-of-the-art solutions.
Year
DOI
Venue
2014
10.1109/CVPR.2014.62
CVPR
Keywords
Field
DocType
camera pose,calibration,focal length determination,point triplet,angle constraint,minimal 4-point based ransac application,pose estimation,polynomial approximation,compact bivariate polynomial equation,3d-to-2d point correspondences,perspective-n-point problem,sylvester resultant,cameras,partially calibrated camera,3d point configuration,pnpf problem,characteristic polynomial technique,polynomials,numerical stability
Characteristic polynomial,Discrete mathematics,Pattern recognition,Polynomial,Computer science,RANSAC,Algorithm,Focal length,Artificial intelligence,Solver,Bivariate polynomials
Conference
ISSN
Citations 
PageRank 
1063-6919
7
0.61
References 
Authors
16
4
Name
Order
Citations
PageRank
Yinqiang Zheng115825.35
shigeki sugimoto211511.82
Imari Sato367554.62
Masatoshi Okutomi4869103.67