Fast and Stable Polynomial Equation Solving and Its Application to Computer Vision
International Journal of Computer Vision
P2Π: a minimal solution for registration of 3D points to 3D planes
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
The six point algorithm revisited
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
3D geometry from uncalibrated images
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
A simple solution to the six-point two-view focal-length problem
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Geometrical computer vision from chasles to today
SCIA'05 Proceedings of the 14th Scandinavian conference on Image Analysis
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
A Theory of Minimal 3D Point to 3D Plane Registration and Its Generalization
International Journal of Computer Vision
Stable two view reconstruction using the six-point algorithm
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
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Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. We present an efficient solution to the problem and show that there are 15 solutions in general (including complex solutions). To the best of our knowledge this was a previously unsolved problem. The solutions are found through eigen-decomposition of a 15 脳 15 matrix. The matrix itself is generated in closed form. We demonstrate through practical experiments that the algorithm is correct and numerically stable.