Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Recognizing Objects Using Color-Annotated Adjacency Graphs
Shape, Contour and Grouping in Computer Vision
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Minimal Solution for Relative Pose with Unknown Focal Length
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Four Points in Two or Three Calibrated Views: Theory and Practice
International Journal of Computer Vision
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
The Registration Problem Revisited: Optimal Solutions From Points, Lines and Planes
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Automatic Generator of Minimal Problem Solvers
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
A Comparative Analysis of RANSAC Techniques Leading to Adaptive Real-Time Random Sample Consensus
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part II
Accurate, Dense, and Robust Multiview Stereopsis
IEEE Transactions on Pattern Analysis and Machine Intelligence
P2Π: a minimal solution for registration of 3D points to 3D planes
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
Closed-form solutions to minimal absolute pose problems with known vertical direction
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part II
Real-time human pose recognition in parts from single depth images
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Two Efficient Solutions for Visual Odometry Using Directional Correspondence
IEEE Transactions on Pattern Analysis and Machine Intelligence
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Registration of 3D data is a key problem in many applications in computer vision, computer graphics and robotics. This paper provides a family of minimal solutions for the 3D-to-3D registration problem in which the 3D data are represented as points and planes. Such scenarios occur frequently when a 3D sensor provides 3D points and our goal is to register them to a 3D object represented by a set of planes. In order to compute the 6 degrees-of-freedom transformation between the sensor and the object, we need at least six points on three or more planes. We systematically investigate and develop pose estimation algorithms for several configurations, including all minimal configurations, that arise from the distribution of points on planes. We also identify the degenerate configurations in such registrations. The underlying algebraic equations used in many registration problems are the same and we show that many 2D-to-3D and 3D-to-3D pose estimation/registration algorithms involving points, lines, and planes can be mapped to the proposed framework. We validate our theory in simulations as well as in three real-world applications: registration of a robotic arm with an object using a contact sensor, registration of planar city models with 3D point clouds obtained using multi-view reconstruction, and registration between depth maps generated by a Kinect sensor.