IEEE Transactions on Pattern Analysis and Machine Intelligence
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
International Journal of Computer Vision
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust methods for estimating pose and a sensitivity analysis
CVGIP: Image Understanding
Error propagation in machine vision
Machine Vision and Applications
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient Linear Solution of Exterior Orientation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Theory of Reconstruction from Image Motion
Theory of Reconstruction from Image Motion
Registration for augmented reality
Registration for augmented reality
Hybrid Tracking for Outdoor Augmented Reality Applications
IEEE Computer Graphics and Applications
Epipolar Constraints for Vision-Aided Inertial Navigation
WACV-MOTION '05 Proceedings of the IEEE Workshop on Motion and Video Computing (WACV/MOTION'05) - Volume 2 - Volume 02
Robust Pose Estimation from a Planar Target
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time camera pose in a room
ICVS'03 Proceedings of the 3rd international conference on Computer vision systems
Comparison of point matching algorithms for the UAV aerial refueling problem
Machine Vision and Applications
Pose estimation from uncertain omnidirectional image data using line-plane correspondences
DAGM'06 Proceedings of the 28th conference on Pattern Recognition
3D model based tracking for omnidirectional vision: A new spherical approach
Robotics and Autonomous Systems
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Estimation of camera pose from an image of n points or lines with known correspondence is a thoroughly studied problem in computer vision. Most solutions are iterative and depend on nonlinear optimization of some geometric constraint, either on the world coordinates or on the projections to the image plane. For real-time applications we are interested in linear or closed-form solutions free of initialization. We present a general framework which allows for a novel set of linear solutions to the pose estimation problem for both n points and n lines. We present a number of simulations which compare our results to two other recent linear algorithm as well as to iterative approaches. We conclude with tests on real imagery in an augmented reality setup. We also present an analysis of the sensitivity of our algorithms to image noise.