A general solution to the p4p problem for camera with unknown focal length

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F08%3A03149970" target="_blank" >RIV/68407700:21230/08:03149970 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

A general solution to the p4p problem for camera with unknown focal length

Original language description

This paper presents a general solution to the determination of the pose of a perspective camera with unknown focal length from images of four 3D reference points. Our problem is a generalization of the P3P and P4P problems previously developed for fullycalibrated cameras. Given four 2D-to-3D correspondences, we estimate camera position, orientation and recover the camera focal length. We formulate the problem and provide a minimal solution from four points by solving a system of algebraic equations. Wecompare the Hidden variable resultant and Gröbner basis techniques for solving the algebraic equations of our problem. By evaluating them on synthetic and on real-data, we show that the Gröbner basis technique provides stable results.

Czech name

A general solution to the p4p problem for camera with unknown focal length

Czech description

This paper presents a general solution to the determination of the pose of a perspective camera with unknown focal length from images of four 3D reference points. Our problem is a generalization of the P3P and P4P problems previously developed for fullycalibrated cameras. Given four 2D-to-3D correspondences, we estimate camera position, orientation and recover the camera focal length. We formulate the problem and provide a minimal solution from four points by solving a system of algebraic equations. Wecompare the Hidden variable resultant and Gröbner basis techniques for solving the algebraic equations of our problem. By evaluating them on synthetic and on real-data, we show that the Gröbner basis technique provides stable results.

Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2008

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

CVPR 2008: Proceedings of the 2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition

ISBN

978-1-4244-2242-5

ISSN

1063-6919

e-ISSN

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Number of pages

8

Pages from-to

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Publisher name

Omnipress

Place of publication

Medison

Event location

Anchorage, Alaska

Event date

Jun 24, 2008

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000259736803029