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

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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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Dates and versions

hal-02981425 , version 1 (28-10-2020)

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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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