Practical Solutions to the Relative Pose of Three Calibrated Cameras

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00387216" target="_blank" >RIV/68407700:21230/25:00387216 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/25:00387216

Výsledek na webu

<a href="https://doi.org/10.1109/CVPR52734.2025.02041" target="_blank" >https://doi.org/10.1109/CVPR52734.2025.02041</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CVPR52734.2025.02041" target="_blank" >10.1109/CVPR52734.2025.02041</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Practical Solutions to the Relative Pose of Three Calibrated Cameras

Popis výsledku v původním jazyce

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four correspondences to estimate an approximate geometry of the first two views. We model this geometry either as an affine or a fully perspective geometry estimated using one additional approximate correspondence. We generate such an approximate correspondence using a very simple and efficient strategy, where the new point is the mean point of three corresponding input points. The new solvers are efficient and easy to implement, since they are based on existing efficient minimal solvers, i.e., the 4-point affine fundamental matrix, the well-known 5-point relative pose solver, and the texttt P3P solver. Extensive experiments on real data show that the proposed solvers, when properly coupled with local optimization, achieve state-of-the-art results, with the novel solver based on approximate mean-point correspondences being more robust and accurate than the affine-based solver.

Název v anglickém jazyce

Practical Solutions to the Relative Pose of Three Calibrated Cameras

Popis výsledku anglicky

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four correspondences to estimate an approximate geometry of the first two views. We model this geometry either as an affine or a fully perspective geometry estimated using one additional approximate correspondence. We generate such an approximate correspondence using a very simple and efficient strategy, where the new point is the mean point of three corresponding input points. The new solvers are efficient and easy to implement, since they are based on existing efficient minimal solvers, i.e., the 4-point affine fundamental matrix, the well-known 5-point relative pose solver, and the texttt P3P solver. Extensive experiments on real data show that the proposed solvers, when properly coupled with local optimization, achieve state-of-the-art results, with the novel solver based on approximate mean-point correspondences being more robust and accurate than the affine-based solver.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GM22-23183M" target="_blank" >GM22-23183M: Nová generace algoritmů pro řešení problémů geometrie kamer</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název statě ve sborníku

2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

ISBN

979-8-3315-4364-8

ISSN

1063-6919

e-ISSN

2575-7075

Počet stran výsledku

11

Strana od-do

21913-21923

Název nakladatele

IEEE Computer Society

Místo vydání

Los Alamitos

Místo konání akce

Nashville

Datum konání akce

11. 6. 2025

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001601158200363