Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00175555" target="_blank" >RIV/68407700:21230/11:00175555 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction
Original language description
In this paper we provide new simple closed-form solutions to two minimal absolute pose problems for the case of known vertical direction. In the first problem we estimate absolute pose of a calibrated camera from two 2D-3D correspondences and a given vertical direction. In the second problem we assume camera with unknown focal length and radial distortion and estimate its pose together with the focal length and the radial distortion from three 2D-3D correspondences and a given vertical direction. The vertical direction can be obtained either by direct physical measurement by, e.g., gyroscopes and inertial measurement units or from vanishing points constructed in images. Both our problems result in solving one polynomial equation of degree two in one variable and one, respectively two, systems of linear equations and can be efficiently solved in a closed-form. By evaluating our algorithms on synthetic and real data we demonstrate that both our solutions are fast, efficient and numerical
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7E09062" target="_blank" >7E09062: Planetary Robotics Vision Ground Processing</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ACCV 2010: Proceedings of the 10th Asian Conference on Computer Vision, Part II
ISBN
978-3-642-19308-8
ISSN
0302-9743
e-ISSN
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Number of pages
14
Pages from-to
216-229
Publisher name
Springer
Place of publication
Heidelberg
Event location
Queenstown
Event date
Nov 8, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000295546500017