Translation of "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung" by Erwin Kruppa (1913)

Abstract : Erwin Kruppa's 1913 paper, Erwin Kruppa, "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung", Sitzungsberichte der Mathematisch-Naturwissenschaftlichen Kaiserlichen Akademie der Wissenschaften, Vol. 122 (1913), pp. 1939-1948, which may be translated as "To determine a 3D object from two perspective views with known inner orientation", is a landmark paper in Computer Vision because it provides the first five-point algorithm for relative pose estimation. Kruppa showed that (a finite number of solutions for) the relative pose between two calibrated images of a rigid object can be computed from five point matches between the images. Kruppa's work also gained attention in the topic of camera self-calibration, as presented in (Maybank and Faugeras, 1992). Since the paper is still relevant today (more than a hundred citations within the last ten years) and the paper is not available online, we ordered a copy from the German National Library in Frankfurt and provide an English translation along with the German original. We also adapt the terminology to a modern jargon and provide some clarifications (highlighted in sans-serif font). For a historical review of geometric computer vision, the reader is referred to the recent survey paper (Sturm, 2011).
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Contributor : Peter Sturm <>
Submitted on : Monday, January 15, 2018 - 11:28:26 AM
Last modification on : Friday, April 19, 2019 - 4:55:18 PM

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  • HAL Id : hal-01684118, version 1
  • ARXIV : 1801.01454

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Guillermo Gallego, Elias Mueggler, Peter Sturm. Translation of "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung" by Erwin Kruppa (1913). 2017. ⟨hal-01684118⟩

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