Computer Vision and Image Understanding
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Multiple-View Geometry Under the {$L_\infty$}-Norm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computer Vision and Image Understanding
Fast optimal three view triangulation
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
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The two view triangulation problem with Gaussian errors, aka optimal triangulation, has an optimal solution that requires finding the roots of a 6th degree polynomial. This is computationally quite demanding for a basic building block of many reconstruction algorithms. We consider two faster triangulation methods. The first is a closed form approximate solution that comes with intuitive and tight error bounds that also describe cases where the optimal method is needed. The second is an iterative method based on local sequential quadratic programming (SQP). In simulations, triangulation errors of the approximate method are on par with the optimal method in most cases of practical interest and the triangulation errors of the SQP method are on par with the optimal method in practically all cases. The SQP method is faster of the two and about two orders of magnitude faster than the optimal method.