An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image and Vision Computing - Special issue: frequency increase for 1991
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A paraperspective factorization method for shape and motion recovery
ECCV '94 Proceedings of the third European conference on Computer Vision (Vol. II)
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Object pose from 2-D to 3-D point and line correspondences
International Journal of Computer Vision
Euclidean Shape and Motion from Multiple Perspective Views by Affine Iterations
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-Based Object Pose in 25 Lines of Code
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Graph Matching With a Dual-Step EM Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Decoupling Orientation Recovery from Position Recovery with 3D-2D Point Correspondences
Journal of Mathematical Imaging and Vision
Optimum Fiducials Under Weak Perspective Projection
International Journal of Computer Vision
International Journal of Computer Vision
Geometry and texture recovery of scenes of large scale
Computer Vision and Image Understanding
Multiview Paraperspective Projection Model for Diminished Reality
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Multi-camera spatio-temporal fusion and biased sequence-data learning for security surveillance
MULTIMEDIA '03 Proceedings of the eleventh ACM international conference on Multimedia
EM enhancement of 3D head pose estimated by point at infinity
Image and Vision Computing
A Novel Pose Estimation Algorithm Based on Points to Regions Correspondence
Journal of Mathematical Imaging and Vision
International Journal of Computer Vision
Evolutionary model-based pose estimation for variable configuration objects
ISPRA'06 Proceedings of the 5th WSEAS International Conference on Signal Processing, Robotics and Automation
Recovering epipolar direction from two affine views of a planar object
Computer Vision and Image Understanding
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Toward fully automated face pose estimation
IMCE '09 Proceedings of the 1st international workshop on Interactive multimedia for consumer electronics
Statistical Methods and Models for Video-Based Tracking, Modeling, and Recognition
Foundations and Trends in Signal Processing
Monocular point based pose estimation of artificial markers by using evolutionary computing
SCIA'07 Proceedings of the 15th Scandinavian conference on Image analysis
Pose estimation from multiple cameras based on Sylvester's equation
Computer Vision and Image Understanding
Robust 3D pose estimation from multiple video cameras
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
A particle filtering framework for joint video tracking and pose estimation
IEEE Transactions on Image Processing
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
A systematic approach for 2D-image to 3D-range registration in urban environments
Computer Vision and Image Understanding
Parameterized variety based view synthesis scheme for multi-view 3DTV
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
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Recently, DeMenthon and Davis (1992, 1995) proposed a method for determining the pose of a 3-D object withrespect to a camera from 3-D to 2-D point correspondences. Themethod consists of iteratively improving the pose computed with aweak perspective camera model to converge, at the limit, to a poseestimation computed with a perspective camera model. In this paperwe give an algebraic derivation of DeMenthon and Davis‘ method and weshow that it belongs to a larger class of methods where theperspective camera model is approximated either at zero order (weakperspective) or first order (paraperspective). We describe in detailan iterative paraperspective pose computation method for both noncoplanar and coplanar object points. We analyse the convergence ofthese methods and we conclude that the iterative paraperspectivemethod (proposed in this paper) has better convergence propertiesthan the iterative weak perspective method. We introduce a simple wayof taking into account the orthogonality constraint associated withthe rotation matrix. We analyse the sensitivity to camera calibrationerrors and we define the optimal experimental setup with respect toimprecise camera calibration. We compare the results obtained withthis method and with a non-linear optimization method.