A New Solution to the Relative Orientation Problem Using Only 3 Points and the Vertical Direction

@article{Kalantari2010ANS,
  title={A New Solution to the Relative Orientation Problem Using Only 3 Points and the Vertical Direction},
  author={M. Kalantari and A. Hashemi and F. Jung and J. Gu{\'e}don},
  journal={Journal of Mathematical Imaging and Vision},
  year={2010},
  volume={39},
  pages={259-268}
}
This paper presents a new method to solve the relative pose between two images, using three pairs of homologous points and the knowledge of the vertical direction. The vertical direction can be determined in two ways: The first requires direct physical measurements such as the ones provided by an IMU (inertial measurement unit). The other uses the automatic extraction of the vanishing point corresponding to the vertical direction in an image. This knowledge of the vertical direction solves two… Expand
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