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Le Calcul de Pose: de nouvelles méthodes matricielles

Marc-André Ameller 1 Long Quan 1 Bill Triggs 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 : Camera pose estimation is the problem of determining the position and orientation of an internally calibrated camera from known 3D reference points and their images.We briefly survey existing methods for pose estimation, then introduce four new algorithms based on efficient matrix computations. The first is based on eigendecomposition of a 5x5 matrix and returns the four intrinsic solutions to the problem of pose from 3 points. The remaining three methods give a unique linear solution from four points by SVD null space computation on resultant matrices. The 24 x 24 method is the raw resultant matrix, and the 12 x 12 and 9 x 9 methods are compressed versions of this obtained by Gaussian elimination with pivoting on constant entries. All of these methods are simple to implement. In particular, the matrix entries are simple functions of the input data. Numerical experiments are given comparing the performance of the new algorithms with several existing methods.
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Marc-André Ameller, Long Quan, Bill Triggs. Le Calcul de Pose: de nouvelles méthodes matricielles. Reconnaissance des Formes et Intelligence Artificielle (RFIA '02), Jan 2002, Angers, France. pp.39--47. ⟨inria-00548262⟩

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