Hybrid method for solving new pose estimation equation system

Authors:
Greg Reid;Jianliang Tang;Jianping Yu;Lihong Zhi
Affiliations:
Dept. of Applied Mathematics, University of Western Ontario, London, Canada;Department of Mathematics, Shenzhen University, Shenzhen, P.R. China;No Institute Given;Key Laboratory of Mathematics Mechanization, AMSS, Academia Sinica, Beijing, P.R. China
Venue:
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
Year:
2004

Citing 15
Cited 0

An analytic solution for the perspective 4-point problem

Computer Vision, Graphics, and Image Processing
Mechanical theorem proving in geometries

Mechanical theorem proving in geometries
Computing the isolated roots by matrix methods

Journal of Symbolic Computation - Special issue on symbolic numeric algebra for polynomials
Linear N-Point Camera Pose Determination

IEEE Transactions on Pattern Analysis and Machine Intelligence
Solving projective complete intersection faster

ISSAC '00 Proceedings of the 2000 international symposium on Symbolic and algebraic computation
Geometric completion of differential systems using numeric-symbolic continuation

ACM SIGSAM Bulletin
Numerical Decomposition of the Solution Sets of Polynomial Systems into Irreducible Components

SIAM Journal on Numerical Analysis
A New Efficient and Direct Solution for Pose Estimation Using Quadrangular Targets: Algorithm and Evaluation

IEEE Transactions on Pattern Analysis and Machine Intelligence
A Note on the Number of Solutions of the Noncoplanar P4P Problem

IEEE Transactions on Pattern Analysis and Machine Intelligence
A New Criterion for Normal Form Algorithms

AAECC-13 Proceedings of the 13th International Symposium on Applied Algebra, Algebraic Algorithms and Error-Correcting Codes
Gröbner-Bases, Gaussian elimination and resolution of systems of algebraic equations

EUROCAL '83 Proceedings of the European Computer Algebra Conference on Computer Algebra
A new efficient algorithm for computing Gröbner bases without reduction to zero (F5)

Proceedings of the 2002 international symposium on Symbolic and algebraic computation
A complete symbolic-numeric linear method for camera pose determination

ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Complete Solution Classification for the Perspective-Three-Point Problem

IEEE Transactions on Pattern Analysis and Machine Intelligence
Numerical Polynomial Algebra

Numerical Polynomial Algebra

Quantified Score

Hi-index	0.00

Visualization

Abstract

Camera pose estimation is the problem of determining the position and orientation of an internally calibrated camera from known 3D reference points and their images. We introduce a new polynomial equation system for 4-point pose estimation and apply our symbolic-numeric method to solve it stably and efficiently. In particular, our algorithm can also recognize the points near critical configurations and deal with these near critical cases carefully. Numerical experiments are given to show the performance of the hybrid algorithm.