The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Computer Vision, Graphics, and Image Processing
A linear algorithm for motion estimation using straight line correspondences
Computer Vision, Graphics, and Image Processing
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
Determination of Camera Location from 2-D to 3-D Line and Point Correspondences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from motion using line correspondences
International Journal of Computer Vision
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Perceptual Organization and Visual Recognition
Perceptual Organization and Visual Recognition
Efficient Linear Solution of Exterior Orientation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometry and texture recovery of scenes of large scale
Computer Vision and Image Understanding
Linear Pose Estimation from Points or Lines
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Linear Augmented Reality Registration
CAIP '01 Proceedings of the 9th International Conference on Computer Analysis of Images and Patterns
Linear Pose Estimation from Points or Lines
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
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Camera Autocalibration and Horopter Curves
International Journal of Computer Vision
Pseudo-linearizing collinearity constraint for accurate pose estimation from a single image
Pattern Recognition Letters
A new method of camera pose estimation using 2D-3D corner correspondence
Pattern Recognition Letters
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Multi-Camera 6-DOF Pose Tracker
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
A Hybrid and Linear Registration Method Utilizing Inclination Constraint
ISMAR '05 Proceedings of the 4th IEEE/ACM International Symposium on Mixed and Augmented Reality
Journal of Mathematical Imaging and Vision
A general sufficient condition of four positive solutions of the P3P problem
Journal of Computer Science and Technology
International Journal of Computer Vision
The Hedgehog: a novel optical tracking method for spatially immersive displays
Presence: Teleoperators and Virtual Environments - Special issue: IEEE VR 2005
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
On the Probability of the Number of Solutions for the P4P Problem
Journal of Mathematical Imaging and Vision
Proceedings of the ACM symposium on Virtual reality software and technology
Virtual Environments: Graphtracker: A topology projection invariant optical tracker
Computers and Graphics
Camera calibration based on receptive fields
Pattern Recognition
Pose determination and plane measurement using a trapezium
Pattern Recognition Letters
Single view based pose estimation from circle or parallel lines
Pattern Recognition Letters
Image and Vision Computing
International Journal of Computer Vision
Viewpoint determination of image by interpolation over sparse samples
Image and Vision Computing
Proceedings of the twenty-first international symposium on Symbolic and algebraic computation
Relative Pose Estimation from Two Circles
Proceedings of the 30th DAGM symposium on Pattern Recognition
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Theoretical and Methodological Issues
Proceedings of the 16th ACM SIGSPATIAL international conference on Advances in geographic information systems
Robust Optimal Pose Estimation
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
IEICE - Transactions on Information and Systems
Real-Time Tracking Error Estimation for Augmented Reality for Registration with Linecode Markers
IEICE - Transactions on Information and Systems
Control uncertainty in image-based visual servoing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
3D laser scan registration of dual-robot system using vision
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A simple algorithm for object location from a single image without camera calibration
ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartI
IEA/AIE'07 Proceedings of the 20th international conference on Industrial, engineering, and other applications of applied intelligent systems
A performance study for camera pose estimation using visual marker based tracking
Machine Vision and Applications
Pose estimation from circle or parallel lines in a single image
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Helicopter flight dynamics using soft computing models
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Pose estimation based on four coplanar point correspondences
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 5
A simple indoor self-localization system using infrared LEDs
INSS'09 Proceedings of the 6th international conference on Networked sensing systems
Interrobot transformations in 3-D
IEEE Transactions on Robotics
A particle filtering framework for joint video tracking and pose estimation
IEEE Transactions on Image Processing
Optimal non-iterative pose estimation via convex relaxation
Image and Vision Computing
Computers and Electrical Engineering
An adaptive training-free feature tracker for mobile phones
Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology
Camera pose estimation based on angle constraints
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
SIAM Journal on Imaging Sciences
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
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
Panorama ultrasound for guiding epidural anesthesia: a feasibility study
IPCAI'11 Proceedings of the Second international conference on Information processing in computer-assisted interventions
3D real-time positioning for autonomous navigation using a nine-point landmark
Pattern Recognition
A systematic approach for 2D-image to 3D-range registration in urban environments
Computer Vision and Image Understanding
A practical guide to marker based and hybrid visual registration for AR industrial applications
CAIP'05 Proceedings of the 11th international conference on Computer Analysis of Images and Patterns
Viewpoint determination of image by interpolation over sparse samples
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Hybrid method for solving new pose estimation equation system
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
Some necessary conditions on the number of solutions for the P4P problem
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
International Journal of Robotics Research
Linear pose estimation algorithm based on quaternion
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing
3D model based tracking for omnidirectional vision: A new spherical approach
Robotics and Autonomous Systems
Visual nouns for indoor/outdoor navigation
ICCHP'12 Proceedings of the 13th international conference on Computers Helping People with Special Needs - Volume Part II
GraphTracker: a topology projection invariant optical tracker
EGVE'06 Proceedings of the 12th Eurographics conference on Virtual Environments
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The determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision and space resection in photogrammetry. It is well-known that from three corresponding points there are at most four algebraic solutions. Less appears to be known about the cases of four and five corresponding points. In this paper, we propose a family of linear methods that yield a unique solution to 4- and 5-point pose determination for generic reference points. We first review the 3-point algebraic method. Then we present our two-step, 4-point and one-step, 5-point linear algorithms. The 5-point method can also be extended to handle more than five points. Finally, we demonstrate our methods on both simulated and real images. We show that they do not degenerate for coplanar configurations and even outperform the special linear algorithm for coplanar configurations in practice.