A Homography Formulation to the 3pt Plus a Common Direction Relative Pose Problem

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• 作者：Olivier Saurer (17)
  Pascal Vasseur (18)
  Cedric Demonceaux (19)
  Friedrich Fraundorfer (20)
  
  17. ETH ; Z眉rich ; Switzerland
  18. LITIS - Universit茅 de Rouen ; Rouen ; France
  19. Le2i ; UMR CNRS 6306 ; Universit茅 de Bourgogne ; Bourgogne ; France
  20. Remote Sensing Technology ; Technische Universit盲t M眉nchen ; Munich ; Germany
  
• 刊名：Lecture Notes in Computer Science
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：9004
• 期：1
• 页码：288-301
• 全文大小：664 KB
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  13. Fraundorfer, F, Tanskanen, P, Pollefeys, M A minimal case solution to the calibrated relative pose problem for the case of two known orientation angles. In: Daniilidis, K, Maragos, P, Paragios, N eds. (2010) Computer Vision 鈥?ECCV 2010. Springer, Heidelberg, pp. 269-282 3-642-15561-1_20" target="_blank" title="It opens in new window">CrossRef
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  20. Bazin, JC, Demonceaux, C, Vasseur, P, Kweon, I (2012) Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment. Int. J. Robot. Res. 31: pp. 63-81 364911421954" target="_blank" title="It opens in new window">CrossRef
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• 作者单位：Computer Vision -- ACCV 2014
• 丛书名：978-3-319-16807-4
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349

文摘

In this paper we present an alternative formulation for the minimal solution to the 3pt plus a common direction relative pose problem. Instead of the commonly used epipolar constraint we use the homography constraint to derive a novel formulation for the 3pt problem. This formulation allows the computation of the normal vector of the plane defined by the three input points without any additional computation in addition to the standard motion parameters of the camera. We show the working of the method on synthetic and real data sets and compare it to the standard 3pt method and the 5pt method for relative pose estimation. In addition we analyze the degenerate conditions for the proposed method.