Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Estimating 3-D location parameters using dual number quaternions
CVGIP: Image Understanding
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Robust model-based motion tracking through the integration of search and estimation
International Journal of Computer Vision
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
A comparison of four algorithms for estimating 3-D rigid transformations
BMVC '95 Proceedings of the 1995 British conference on Machine vision (Vol. 1)
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple-center-of-projection images
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Integrating virtual objects into real images for augmented reality
VRST '98 Proceedings of the ACM symposium on Virtual reality software and technology
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
Algorithm 493: Zeros of a Real Polynomial [C2]
ACM Transactions on Mathematical Software (TOMS)
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Numerical Recipes in C: The Art of Scientific Computing
Numerical Recipes in C: The Art of Scientific Computing
The Trimmed Iterative Closest Point Algorithm
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
Registration of Cad-Models to Images by Iterative Inverse Perspective Matching
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Tangible Photorealistic Virtual Museum
IEEE Computer Graphics and Applications
A generic structure-from-motion framework
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
Multiperspective modeling, rendering, and imaging
ACM SIGGRAPH ASIA 2008 courses
Spherical approximation for multiple cameras in motion estimation: Its applicability and advantages
Computer Vision and Image Understanding
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
The MOPED framework: Object recognition and pose estimation for manipulation
International Journal of Robotics Research
A method for calibrating a motorized object rig
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
| Hi-index | 0.14 |
With the advances in imaging technologies for robot or machine vision, new imaging devices are being developed for robot navigation or image-based rendering. However, to satisfy some design criterion, such as image resolution or viewing ranges, these devices are not necessarily being designed to follow the perspective rule and, thus, the imaging rays may not pass through a common point. Such generalized imaging devices may not be perspective and, therefore, their poses cannot be estimated with traditional techniques. In this paper, we propose a systematic method for pose estimation of such a generalized imaging device. We formulate it as a nonperspective n point (NPnP) problem. The case with exact solutions, n=3, is investigated comprehensively. Approximate solutions can be found for n3 in a least-squared-error manner by combining an initial-pose-estimation procedure and an orthogonally iterative procedure. This proposed method can be applied not only to nonperspective imaging devices but also perspective ones. Results from experiments show that our approach can solve the NPnP problem accurately.