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
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
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
Numerical Recipes in C: The Art of Scientific Computing
Numerical Recipes in C: The Art of Scientific Computing
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 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
Pose determination and plane measurement using a trapezium
Pattern Recognition Letters
A Novel Pose Estimation Algorithm Based on Points to Regions Correspondence
Journal of Mathematical Imaging and Vision
Single view based pose estimation from circle or parallel lines
Pattern Recognition Letters
Viewpoint determination of image by interpolation over sparse samples
Image and Vision Computing
Relative Pose Estimation of Surgical Tools in Assisted Minimally Invasive Surgery
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Relative Pose Estimation from Two Circles
Proceedings of the 30th DAGM symposium on Pattern Recognition
Inside looking out camera pose estimation for virtual studio
Graphical Models
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Re-projective Pose Estimation of a Planar Prototype
MIRAGE '09 Proceedings of the 4th International Conference on Computer Vision/Computer Graphics CollaborationTechniques
Georeferencing image points using visual pose estimation and DEM
Proceedings of the 2007 conference on Artificial Intelligence Research and Development
Camera Resectioning from a Box
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
Vision-aided inertial navigation for spacecraft entry, descent, and landing
IEEE Transactions on Robotics
Control uncertainty in image-based visual servoing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Relative bearing estimation from commodity radios
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Clustered stochastic optimization for object recognition and pose estimation
Proceedings of the 29th DAGM conference on Pattern recognition
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
Interrobot transformations in 3-D
IEEE Transactions on Robotics
Optimal non-iterative pose estimation via convex relaxation
Image and Vision Computing
Computers and Electrical Engineering
Efficient model-based linear head motion recovery from movies
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Vision Based Position Control for MAVs Using One Single Circular Landmark
Journal of Intelligent and Robotic Systems
Camera pose estimation based on angle constraints
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Projector calibration by "inverse camera calibration"
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
An efficient two-step solution for vision-based pose determination of a parallel manipulator
Robotics and Computer-Integrated Manufacturing
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
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
Single camera based optical tracking system for personal entertainment
Edutainment'06 Proceedings of the First international conference on Technologies for E-Learning and Digital Entertainment
Linear pose estimation algorithm based on quaternion
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing
Egomotion Estimation Using Assorted Features
International Journal of Computer Vision
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
A self-localization system with global error reduction and online map-building capabilities
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
How to localize humanoids with a single camera?
Autonomous Robots
Robust and efficient pose estimation from line correspondences
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part III
Camera calibration in sport event scenarios
Pattern Recognition
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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 then analyze the sensitivity of our solutions to image noise and show that the sensitivity analysis can be used as a conservative predictor of error for our algorithms. We present a number of simulations which compare our results to two other recent linear algorithms, as well as to iterative approaches. We conclude with tests on real imagery in an augmented reality setup.