Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
A complete symbolic-numeric linear method for camera pose determination
ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Journal of Mathematical Imaging and Vision
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
Automatic Generator of Minimal Problem Solvers
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
Fast and Stable Polynomial Equation Solving and Its Application to Computer Vision
International Journal of Computer Vision
A Novel Solution to the P4P Problem for an Uncalibrated Camera
Journal of Mathematical Imaging and Vision
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In this paper we present a new efficient solution to the absolute pose problem for a camera with unknown focal length and radial distortion from four 2D-to-3D point correspondences. We propose to solve the problem separately for non-planar and for planar scenes. By decomposing the problem into these two situations we obtain simpler and more efficient solver than the previously known general solver. We demonstrate in synthetic and real experiments significant speedup as our new solvers are about 40× (non-planar) and 160× (planar) faster than the general solver. Moreover, we show that our two solvers can be joined into a new general solver, which gives comparable or better results than the existing general solver for of most planar as well as non-planar scenes.