The DOI matches its Crossref record; 32 of the 32 references it cites were found in a registry or an index.
Accurate Non-Iterative O(n) Solution to the PnP Problem
Open accessAbstract
We propose a non-iterative solution to the PnP problem-the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences—whose computational complexity grows linearly with 𝑛5) or even 𝑂(𝑛8), without being more accurate. Our method is applicable for all 𝑛≥4 and handles properly both planar and non-planar configurations. Our central idea is to express the 𝑛 3D points as a weighted sum of four virtual control points. The problem then reduces to estimating the coordinates of these control points in the camera referential, which can be done in 𝑂(𝑛) time by expressing these coordinates as weighted sum of the eigenvectors of a 12 × 12 matrix and solving a small constant number of quadratic equations to pick the right weights. The advantages of our method are demonstrated by thorough testing on both synthetic and real-data.
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Least-Squares Fitting of Two 3-D Point Sets
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Least-squares estimation of transformation parameters between two point patterns
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Cited by
EPnP: An Accurate O(n) Solution to the PnP Problem
Lepetit, V., Moreno-Noguer, F., & Fua, P. (2009) · International Journal of Computer Vision · doi:10.1007/s11263-008-0152-6 · Cited by 3,298
Self-citationScaramuzza, D., & Fraundorfer, F. (2011) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2011.943233 · Cited by 1,550
PL-SLAM: Real-time monocular visual SLAM with points and lines
Pumarola, A., Vakhitov, A., Agudo, A., Sanfeliu, A., & Moreno-Noguer, F. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989522 · Cited by 482
Self-citationC2TAM: A Cloud framework for cooperative tracking and mapping
Riazuelo, L., Civera, J., & Montiel, J. M. M. (2014) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2013.11.007 · Cited by 254
Towards semantic SLAM using a monocular camera
Civera, J., Galvez-Lopez, D., Riazuelo, L., Tardos, J. D., & Montiel, J. M. M. (2011) · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2011.6094648 · Cited by 172
Metadata
- Authors
- Moreno-Noguer, F., Lepetit, V., & Fua, P.
- Venue
- 2007 IEEE 11th International Conference on Computer Vision
- Publisher
- IEEE
- Published
- 2007
- Pages
- 1-8
- OpenAlex
- W2036273537
- Cited by
- 295
- References
- 32
- FWCI
- 10.67
- Type
- conference paper
- Language
- en
- Open access
- green
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