Trifocal Relative Pose From Lines at Points
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00361847" target="_blank" >RIV/68407700:21730/23:00361847 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/TPAMI.2022.3226165" target="_blank" >https://doi.org/10.1109/TPAMI.2022.3226165</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TPAMI.2022.3226165" target="_blank" >10.1109/TPAMI.2022.3226165</a>
Alternative languages
Result language
angličtina
Original language name
Trifocal Relative Pose From Lines at Points
Original language description
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of ( i ) three points and one line and the novel case of ( ii ) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Gröbner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing HC methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that ( i ) SIFT feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and ( ii ) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Intelligent Machine Perception</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Pattern Analysis and Machine Intelligence
ISSN
0162-8828
e-ISSN
1939-3539
Volume of the periodical
45
Issue of the periodical within the volume
6
Country of publishing house
US - UNITED STATES
Number of pages
15
Pages from-to
7870-7884
UT code for WoS article
000982475600083
EID of the result in the Scopus database
2-s2.0-85144038314