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
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
3-D Pose from 3 Points Using Weak-Perspective
IEEE Transactions on Pattern Analysis and Machine Intelligence
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Single view based pose estimation from circle or parallel lines
Pattern Recognition Letters
Deep photo: model-based photograph enhancement and viewing
ACM SIGGRAPH Asia 2008 papers
An immune evolutionary algorithm based pose estimation method for parallel manipulator
Proceedings of the first ACM/SIGEVO Summit on Genetic and Evolutionary Computation
Camera Resectioning from a Box
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
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
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
International Journal of Computer Vision
An efficient two-step solution for vision-based pose determination of a parallel manipulator
Robotics and Computer-Integrated Manufacturing
Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment
International Journal of Robotics Research
An Algorithm for Finding Repeated Solutions to the General Perspective Three-Point Pose Problem
Journal of Mathematical Imaging and Vision
Real time vision based multi-person tracking for mobile robotics and intelligent vehicles
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Orientation and pose estimation for panoramic imagery
Machine Graphics & Vision International Journal - Special issue on Image Databases
Hand-Eye calibration without hand orientation measurement using minimal solution
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
A Fundamentally New View of the Perspective Three-Point Pose Problem
Journal of Mathematical Imaging and Vision
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It is a well known classical result that given the image projections of three known world points it is possible to solve for the pose of a calibrated perspective camera to up to four pairs of solutions. We solve the Generalised problem where the camera is allowed to sample rays in some arbitrary but known fashion and is not assumed to perform a central perspective projection. That is, given three back-projected rays that emanate from a camera or multi-camera rig in an arbitrary but known fashion, we seek the possible poses of the camera such that the three rays meet three known world points. We show that the Generalised problem has up to eight solutions that can be found as the intersections between a circle and a ruled quartic surface. A minimal and efficient constructive numerical algorithm is given to find the solutions. The algorithm derives an octic polynomial whose roots correspond to the solutions. In the classical case, when the three rays are concurrent, the ruled quartic surface and the circle possess a reflection symmetry such that their intersections come in symmetric pairs. This manifests itself in that the odd order terms of the octic polynomial vanish. As a result, the up to four pairs of solutions can be found in closed form. The proposed algorithm can be used to solve for the pose of any type of calibrated camera or camera rig. The intended use for the algorithm is in a hypothesise-and-test architecture.