The Five Points Pose Problem: A New and Accurate Solution Adapted to Any Geometric Configuration

Authors:
Mahzad Kalantari;Franck Jung;Jean-Pierre Guedon;Nicolas Paparoditis
Affiliations:
MATIS Laboratory, Institut Geographique National, Saint-Mandé Cedex, France 94165 and Institut Recherche Communications Cybernétique de Nantes (IRCCyN) UMR CNRS 6597, Nantes Cedex 03, Fr ...;DDE - Seine Maritime, France;Institut Recherche Communications Cybernétique de Nantes (IRCCyN) UMR CNRS 6597, Nantes Cedex 03, France and Institut de Recherche sur les Sciences et Techniques de la Ville CNRS FR 2488,;MATIS Laboratory, Institut Geographique National, Saint-Mandé Cedex, France 94165
Venue:
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Year:
2009

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Abstract

The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is comparably an important advantage over the methods using the well-known essential matrix. This results in correct behavior and accuracy for situations otherwise known as quite unfavorable, such as planar scenes, or panoramic sets of images (with a null base length), while providing quite comparable results for more "standard" cases. The resolution of the algebraic polynomials resulting from the modeling of the coplanarity constraint is made with the help of powerful algebraic solver tools (the Gröbner bases and the Rational Univariate Representation).