Algorithms for Plane-Based Pose Estimation

Peter Sturm 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : We present several methods for the estimation of relative pose between planes and cameras, based on projections of sets of coplanar features in images. While such methods exist for simple cases, especially one plane seen in one or several views, the aim of this paper is to propose solutions for multi-plane multi-view situations, possibly with little overlap. We propose a factorization-based method for the general case of n planes seen in m views. A mechanism for computing missing data, i.e. when one or several of the planes are not visible in one or several of the images, is described. Experimental results for real images are shown.
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Peter Sturm. Algorithms for Plane-Based Pose Estimation. IEEE Conference on Computer Vision and Pattern Recognition (CVPR '00), Jun 2000, Hilton Head Island, United States. pp.706 - 711, ⟨10.1109/CVPR.2000.855889⟩. ⟨inria-00525671⟩

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