The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Linear pose estimation from points or lines
Abstract
Estimation of camera pose from an image of n points or lines with known correspondence is a thoroughly studied problem in computer vision. Most solutions are iterative and depend on nonlinear optimization of some geometric constraint, either on the world coordinates or on the projections to the image plane. For real-time applications, we are interested in linear or closed-form solutions free of initialization. We present a general framework which allows for a novel set of linear solutions to the pose estimation problem for both n points and n lines. We then analyze the sensitivity of our solutions to image noise and show that the sensitivity analysis can be used as a conservative predictor of error for our algorithms. We present a number of simulations which compare our results to two other recent linear algorithms, as well as to iterative approaches. We conclude with tests on real imagery in an augmented reality setup.
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Cites
Fischler, M. A., & Bolles, R. C. (1981) · Communications of the ACM · doi:10.1145/358669.358692 · Cited by 25,893
Azuma, R. T. (1997) · Presence: Teleoperators and Virtual Environments · doi:10.1162/pres.1997.6.4.355 · Cited by 10,121
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
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
A Direct Least-Squares (DLS) method for PnP
Hesch, J. A., & Roumeliotis, S. I. (2011) · 2011 International Conference on Computer Vision · doi:10.1109/iccv.2011.6126266 · Cited by 373
Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing
Mourikis, A. I., Trawny, N., Roumeliotis, S. I., Johnson, A. E., Ansar, A., & Matthies, L. (2009) · IEEE Transactions on Robotics · doi:10.1109/tro.2009.2012342 · Cited by 345
Self-citationAccurate Non-Iterative O(n) Solution to the PnP Problem
Moreno-Noguer, F., Lepetit, V., & Fua, P. (2007) · 2007 IEEE 11th International Conference on Computer Vision · doi:10.1109/iccv.2007.4409116 · Cited by 295
Metadata
- Authors
- Ansar, A., & Daniilidis, K.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 2003-05
- Volume
- 25
- Issue
- 5
- Pages
- 578-589
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2122612384
- Cited by
- 434
- References
- 2
- FWCI
- 17.48
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ansar, A., & Daniilidis, K. (2003). Linear pose estimation from points or lines. IEEE Transactions on Pattern Analysis and Machine Intelligence. https://doi.org/10.1109/tpami.2003.1195992
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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