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Minimal Solutions to Relative Pose Estimation From Two Views Sharing a Common Direction With Unknown Focal Length

Abstract : We propose minimal solutions to relative pose estimation problem from two views sharing a common direction with unknown focal length. This is relevant for cameras equipped with an IMU (inertial measurement unit), e.g., smart phones, tablets. Similar to the 6-point algorithm for two cameras with unknown but equal focal lengths and 7-point algorithm for two cameras with different and unknown focal lengths, we derive new 4- and 5-point algorithms for these two cases, respectively. The proposed algorithms can cope with coplanar points, which is a degenerate configuration for these 6- and 7-point counterparts. We present a detailed analysis and comparisons with the state of the art. Experimental results on both synthetic data and real images from a smart phone demonstrate the usefulness of the proposed algorithms.
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Conference papers
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https://hal.inria.fr/hal-02981425
Contributor : Yaqing Ding <>
Submitted on : Wednesday, October 28, 2020 - 1:52:16 AM
Last modification on : Thursday, November 5, 2020 - 10:28:59 AM

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Yaqing Ding, Jian Yang, Jean Ponce, Hui Kong. Minimal Solutions to Relative Pose Estimation From Two Views Sharing a Common Direction With Unknown Focal Length. CVPR 2020- IEEE/CVF Conference on Computer Vision and Pattern Recognition, Jun 2020, Seattle / Virtual, United States. pp.7043-7051, ⟨10.1109/CVPR42600.2020.00707⟩. ⟨hal-02981425⟩

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