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Linear N-point camera pose determination
Open accessAbstract
The determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision and space resection in photogrammetry. It is well-known that from three corresponding points there are at most four algebraic solutions. Less appears to be known about the cases of four and five corresponding points. We propose a family of linear methods that yield a unique solution to 4- and 5-point pose determination for generic reference points. We first review the 3-point algebraic method. Then we present our two-step, 4-point and one-step, 5-point linear algorithms. The 5-point method can also be extended to handle more than five points. Finally, we demonstrate our methods on both simulated and real images. We show that they do not degenerate for coplanar configurations and even outperform the special linear algorithm for coplanar configurations in practice.
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Fischler, M. A., & Bolles, R. C. (1981) · Communications of the ACM · doi:10.1145/358669.358692 · Cited by 25,893
Cited by
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Lepetit, V., Moreno-Noguer, F., & Fua, P. (2009) · International Journal of Computer Vision · doi:10.1007/s11263-008-0152-6 · Cited by 3,298
Complete solution classification for the perspective-three-point problem
Gao, X.-S., Hou, X.-R., Tang, J., & Cheng, H.-F. (2003) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2003.1217599 · Cited by 976
Pose estimation for augmented reality: a hands-on survey
Marchand, E., Uchiyama, H., & Spindler, F. (2016) · IEEE Transactions on Visualization and Computer Graphics · doi:10.1109/tvcg.2015.2513408 · Cited by 746
A Robust O(n) Solution to the Perspective-n-Point Problem
Li, S., Xu, C., & Xie, M. (2012) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2012.41 · Cited by 503
Monocular model-based 3D tracking of rigid objects: a survey
Lepetit, V., & Fua, P. (2005) · Foundations and Trends® in Computer Graphics and Vision · doi:10.1561/0600000001 · Cited by 484
Metadata
- Authors
- Quan, L., & Lan, Z.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 1999
- Volume
- 21
- Issue
- 8
- Pages
- 774-780
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2134237713
- Cited by
- 635
- References
- 1
- FWCI
- 11.12
- Type
- journal article
- Language
- en
- Open access
- green
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- Quan, L., & Lan, Z. (1999). Linear N-point camera pose determination. IEEE Transactions on Pattern Analysis and Machine Intelligence. https://doi.org/10.1109/34.784291
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