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
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
A Theory of Minimal 3D Point to 3D Plane Registration and Its Generalization
International Journal of Computer Vision
Camera calibration using vertical lines
ACCV'12 Proceedings of the 11th international conference on Computer Vision - Volume Part I
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In this paper we provide new simple closed-form solutions to two minimal absolute pose problems for the case of known vertical direction. In the first problem we estimate absolute pose of a calibrated camera from two 2D-3D correspondences and a given vertical direction. In the second problem we assume camera with unknown focal length and radial distortion and estimate its pose together with the focal length and the radial distortion from three 2D-3D correspondences and a given vertical direction. The vertical direction can be obtained either by direct physical measurement by, e.g., gyroscopes and inertial measurement units or from vanishing points constructed in images. Both our problems result in solving one polynomial equation of degree two in one variable and one, respectively two, systems of linear equations and can be efficiently solved in a closed-form. By evaluating our algorithms on synthetic and real data we demonstrate that both our solutions are fast, efficient and numerically stabled.