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Camera Pose and Calibration from 4 or 5 known 3D Points

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 : We describe two direct quasilinear methods for camera pose (absolute orientation) and calibration from a single image of 4 or 5 known 3D points. They generalize the 6 point `Direct Linear Transform' method by incorporating partial prior camera knowledge, while still allowing some unknown calibration parameters to be recovered. Only linear algebra is required, the solution is unique in non-degenerate cases, and additional points can be included for improved stability. Both methods fail for coplanar points, but we give an experimental eigendecomposition based one that handles both planar and nonplanar cases. Our methods use recent polynomial solving technology, and we give a brief summary of this. One of our aims was to try to understand the numerical behaviour of modern polynomial solvers on some relatively simple test cases, with a view to other vision applications.
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https://hal.inria.fr/inria-00548311
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Bill Triggs. Camera Pose and Calibration from 4 or 5 known 3D Points. 7th International Conference on Computer Vision (ICCV '99), Sep 1999, Kerkyra, Greece. pp.278--284, ⟨10.1109/ICCV.1999.791231⟩. ⟨inria-00548311⟩

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