Name
Abstract | ||
|---|---|---|
Estimating the position of a 3-dimensional world point given its 2-dimensional projections in a set of images is a key component in numerous computer vision systems. There are several methods dealing with this problem, ranging from sub-optimal, linear least square triangulation in two views, to finding the world point that minimized the L2-reprojection error in three views. This leads to the statistically optimal estimate under the assumption of Gaussian noise. In this paper we present a solution to the optimal triangulation in three views. The standard approach for solving the three-view triangulation problem is to find a closed-form solution. In contrast to this, we propose a new method based on an iterative scheme. The method is rigorously tested on both synthetic and real image data with corresponding ground truth, on a midrange desktop PC and a Raspberry Pi, a low-end mobile platform. We are able to improve the precision achieved by the closed-form solvers and reach a speed-up of two orders of magnitude compared to the current state-of-the-art solver. In numbers, this amounts to around 300K triangulations per second on the PC and 30K triangulations per second on Raspberry Pi. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/CVPRW.2014.28 | Computer Vision and Pattern Recognition Workshops |
Keywords | Field | DocType |
Gaussian noise,computer vision,least squares approximations,2-dimensional image projections,3-dimensional world point,Gaussian noise,L2-reprojection error,Raspberry Pi,iterative scheme,linear least square triangulation,midrange desktop PC,robust three-view triangulation,statistical estimation,Nonlinear optimization,Structure from motion,Three-view Triangulation | Structure from motion,Computer vision,Triangulation (computer vision),Minimum-weight triangulation,Computer science,Nonlinear programming,Triangulation (social science),Artificial intelligence,Real image,Solver,Gaussian noise | Conference |
ISSN | Citations | PageRank |
2160-7508 | 3 | 0.39 |
References | Authors | |
9 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Johan Hedborg | 1 | 32 | 2.67 |
| Robinson Andreas | 2 | 351 | 10.01 |
| Michael Felsberg | 3 | 2419 | 130.29 |