Numerical recipes in C: the art of scientific computing
Numerical recipes in C: the art of scientific computing
Motion from point matches: multiple of solutions
International Journal of Computer Vision
International Journal of Computer Vision
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Reconstruction from Calibrated Cameras—A New Proof of the Kruppa-Demazure Theorem
Journal of Mathematical Imaging and Vision
International Journal of Computer Vision - 1998 Marr Prize
The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
A critique of structure-from-motion algorithms
Computer Vision and Image Understanding
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Calibration and Orientation of Cameras in Computer Vision
Calibration and Orientation of Cameras in Computer Vision
Theory of Reconstruction from Image Motion
Theory of Reconstruction from Image Motion
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
What can be seen in three dimensions with an uncalibrated stereo rig
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Surviving Dominant Planes in Uncalibrated Structure and Motion Recovery
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
New Algorithms for Two-Frame Structure from Motion
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Alignment of Continuous Video onto 3D Point Clouds
IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient, causal camera tracking in unprepared environments
Computer Vision and Image Understanding
Four Points in Two or Three Calibrated Views: Theory and Practice
International Journal of Computer Vision
Silhouette Coherence for Camera Calibration under Circular Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Self-recalibration of a structured light system via plane-based homography
Pattern Recognition
Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision
An augmented reality human-computer interface for object localization in a cognitive vision system
Image and Vision Computing
Real-time camera tracking for marker-less and unprepared augmented reality environments
Image and Vision Computing
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
A minimal solution for relative pose with unknown focal length
Image and Vision Computing
A Model-Selection Framework for Multibody Structure-and-Motion of Image Sequences
International Journal of Computer Vision
Epiflow-A paradigm for tracking stereo correspondences
Computer Vision and Image Understanding
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Relative Pose Estimation from Two Circles
Proceedings of the 30th DAGM symposium on Pattern Recognition
Distributed Smart Camera Calibration Using Blinking LED
ACIVS '08 Proceedings of the 10th International Conference on Advanced Concepts for Intelligent Vision Systems
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
3D curve structure reconstruction from a sparse set of unordered images
Computers in Industry
Omnidirectional Image Stabilization by Computing Camera Trajectory
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
The Five Points Pose Problem: A New and Accurate Solution Adapted to Any Geometric Configuration
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Multiperspective modeling, rendering, and imaging
ACM SIGGRAPH ASIA 2008 courses
Automatic Reconstruction of Wide-Area Fiducial Marker Models
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Generic and real-time structure from motion using local bundle adjustment
Image and Vision Computing
Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments
Journal of Intelligent and Robotic Systems
Accurate Camera Calibration from Multi-View Stereo and Bundle Adjustment
International Journal of Computer Vision
Efficient, causal camera tracking in unprepared environments
Computer Vision and Image Understanding
Autonomous navigation of vehicles from a visual memory using a generic camera model
IEEE Transactions on Intelligent Transportation Systems
Self-calibration of spherical rectification for a PTZ-stereo system
Image and Vision Computing
Video synchronization and its application to object transfer
Image and Vision Computing
Toward Video-Based Navigation for Endoscopic Endonasal Skull Base Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Evaluating the Suitability of Feature Detectors for Automatic Image Orientation Systems
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Fast and Accurate Structure and Motion Estimation
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Factorization of Correspondence and Camera Error for Unconstrained Dense Correspondence Applications
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Rooftop Detection and 3D Building Modeling from Aerial Images
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
A visual odometry framework robust to motion blur
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A relative frame representation for fixed-time bundle adjustment in SFM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Estimation of the epipole using optical flow at antipodal points
Computer Vision and Image Understanding
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Image augmented laser scan matching for indoor dead reckoning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Moving object detection by multi-view geometric techniques from a single camera mounted robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual navigation of a quadrotor aerial vehicle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast pose estimation for visual navigation using homographies
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
1-point RANSAC for EKF-based structure from motion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the bending problem for large scale mapping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Statistical Methods and Models for Video-Based Tracking, Modeling, and Recognition
Foundations and Trends in Signal Processing
Computer Vision and Image Understanding
3D Reconstruction from Multiple Images Part 1: Principles
Foundations and Trends® in Computer Graphics and Vision
Detectability of moving objects using correspondences over two and three frames
Proceedings of the 29th DAGM conference on Pattern recognition
Extraction of 3D unfoliaged trees from image sequences via a generative statistical approach
Proceedings of the 29th DAGM conference on Pattern recognition
International Journal of Computer Vision
How computer vision can help in outdoor positioning
AmI'07 Proceedings of the 2007 European conference on Ambient intelligence
Optimal algorithms in multiview geometry
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
A framework for scalable vision-only navigation
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Pose estimation based on four coplanar point correspondences
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 5
Image mosaicing via quadric surface estimation with priors for tunnel inspection
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
3-D motion estimation by integrating visual cues in 2-D multi-modal opti-acoustic stereo sequences
Computer Vision and Image Understanding
Improve matching results for structure from motion problems
International Journal of Computer Applications in Technology
Spherical approximation for multiple cameras in motion estimation: Its applicability and advantages
Computer Vision and Image Understanding
Landmark image classification using 3D point clouds
Proceedings of the international conference on Multimedia
C-arm tracking by intensity-based registration of a fiducial in prostate brachytherapy
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
OTESC: online transformation estimation between stereo cameras
Proceedings of the 1st international workshop on 3D video processing
Resampling structure from motion
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Building Rome on a cloudless day
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Realtime motion segmentation based multibody visual SLAM
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Interactive reconstruction of industrial sites using parametric models
Proceedings of the 26th Spring Conference on Computer Graphics
Online and Incremental Appearance-based SLAM in Highly Dynamic Environments
International Journal of Robotics Research
Active self-calibration of multi-camera systems
Proceedings of the 32nd DAGM conference on Pattern recognition
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Omnidirectional Image Stabilization for Visual Object Recognition
International Journal of Computer Vision
A New Solution to the Relative Orientation Problem Using Only 3 Points and the Vertical Direction
Journal of Mathematical Imaging and Vision
3D camera pose estimation using line correspondences and 1D homographies
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part II
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
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
An Automation System of Rooftop Detection and 3D Building Modeling from Aerial Images
Journal of Intelligent and Robotic Systems
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Stable structure from motion for unordered image collections
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
A historical survey of geometric computer vision
CAIP'11 Proceedings of the 14th international conference on Computer analysis of images and patterns - Volume Part I
Robust visual odometry using uncertainty models
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
International Journal of Computer Vision
The six point algorithm revisited
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Maximum likelihood autocalibration
Image and Vision Computing
Automated sparse 3D point cloud generation of infrastructure using its distinctive visual features
Advanced Engineering Informatics
Efficient city-sized 3D reconstruction from ultra-high resolution aerial and ground video imagery
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
3D reconstruction of buildings with automatic facade refinement
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
A public system for image based 3D model generation
MIRAGE'11 Proceedings of the 5th international conference on Computer vision/computer graphics collaboration techniques
Large-scale, dense city reconstruction from user-contributed photos
Computer Vision and Image Understanding
Scene reconstruction and visualization from internet photo collections
Scene reconstruction and visualization from internet photo collections
Determining an initial image pair for fixing the scale of a 3d reconstruction from an image sequence
DAGM'06 Proceedings of the 28th conference on Pattern Recognition
Autonomous vehicle video aided navigation – coupling INS and video approaches
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
A semi-automatic 3d reconstruction algorithm for telepresence
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
3D geometry from uncalibrated images
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Direct solutions for computing cylinders from minimal sets of 3d points
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Perspective n-view multibody structure-and-motion through model selection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Automatic foreground propagation in image sequences for 3D reconstruction
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Simultaneous Camera Pose and Correspondence Estimation with Motion Coherence
International Journal of Computer Vision
Robust focal length estimation by voting in multi-view scene reconstruction
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part I
Editors Choice Article: Visual SLAM: Why filter?
Image and Vision Computing
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Active vision for controlling an electric wheelchair
Intelligent Service Robotics
Robust Estimation for an Inverse Problem Arising in Multiview Geometry
Journal of Mathematical Imaging and Vision
Egomotion Estimation Using Assorted Features
International Journal of Computer Vision
Facing the Multicore-Challenge II
Structure from motion based approaches to 3d reconstruction in minimal invasive laparoscopy
ICIAR'12 Proceedings of the 9th international conference on Image Analysis and Recognition - Volume Part II
Tissue deformation recovery with gaussian mixture model based structure from motion
AE-CAI'11 Proceedings of the 6th international conference on Augmented Environments for Computer-Assisted Interventions
Finding the exact rotation between two images independently of the translation
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Semantic structure from motion: a novel framework for joint object recognition and 3d reconstruction
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Tracking feature points in uncalibrated images with radial distortion
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
Monocular visual odometry and dense 3d reconstruction for on-road vehicles
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume 2
Video enhancement leveraging high-quality depth maps
Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry
Journal of Intelligent and Robotic Systems
Extrinsic camera calibration method and its performance evaluation
ICCVG'12 Proceedings of the 2012 international conference on Computer Vision and Graphics
Proceedings of the Winter Simulation Conference
Interactive object modelling based on piecewise planar surface patches
Computer Vision and Image Understanding
Optimized selection of key frames for monocular videogrammetric surveying of civil infrastructure
Advanced Engineering Informatics
Simultaneous multiple rotation averaging using lagrangian duality
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part III
Stable two view reconstruction using the six-point algorithm
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Hand-Eye calibration without hand orientation measurement using minimal solution
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Robust and accurate mobile visual localization and its applications
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP) - Special Sections on the 20th Anniversary of ACM International Conference on Multimedia, Best Papers of ACM Multimedia 2012
Advanced Engineering Informatics
Robust omnidirectional mobile robot topological navigation system using omnidirectional vision
Engineering Applications of Artificial Intelligence
Real-time visual odometry estimation based on principal direction detection on ceiling vision
International Journal of Automation and Computing
Intrinsic and extrinsic active self-calibration of multi-camera systems
Machine Vision and Applications
Closed-Form Solution of Visual-Inertial Structure from Motion
International Journal of Computer Vision
An Adversarial Optimization Approach to Efficient Outlier Removal
Journal of Mathematical Imaging and Vision
| Hi-index | 0.14 |
Abstract--An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial in closed form and, subsequently, finding its roots. It is the first algorithm well-suited for numerical implementation that also corresponds to the inherent complexity of the problem. We investigate the numerical precision of the algorithm. We also study its performance under noise in minimal as well as overdetermined cases. The performance is compared to that of the well-known 8 and 7-point methods and a 6-point scheme. The algorithm is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time with low delay. The real-time system uses solely visual input and has been demonstrated at major conferences.