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
Figures and Topics from this paper
57 Citations
Two Efficient Solutions for Visual Odometry Using Directional Correspondence
- Mathematics, Computer Science
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- 2012
- 74
- PDF
Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction
- Mathematics, Computer Science
- ACCV
- 2010
- 86
- PDF
An efficient solution to the relative pose estimation with a common direction
- Computer Science
- 2020 IEEE International Conference on Robotics and Automation (ICRA)
- 2020
- 2
A Robust Least Squares Solution to the Calibrated Two-View Geometry with Two Known Orientation Angles
- Mathematics, Computer Science
- VISIGRAPP
- 2013
- 1
- PDF
A Minimal Case Solution to the Calibrated Relative Pose Problem for the Case of Two Known Orientation Angles
- Computer Science
- ECCV
- 2010
- 111
A Homography Formulation to the 3pt Plus a Common Direction Relative Pose Problem
- Mathematics, Computer Science
- ACCV
- 2014
- 10
- Highly Influenced
- PDF
Camera relative orientation in large field of view
- Mathematics, Engineering
- International Symposium on Precision Mechanical Measurements
- 2016
A two-point algorithm for stereo visual odometry in open outdoor environments
- Computer Science
- 2014 IEEE International Conference on Robotics and Automation (ICRA)
- 2014
- 2
A Robust Least Squares Solution to the Relative Pose Problem on Calibrated Cameras with Two Known Orientation Angles
- Computer Science
- VISAPP
- 2013
- PDF
References
SHOWING 1-10 OF 40 REFERENCES
An efficient solution to the five-point relative pose problem
- Mathematics, Computer Science
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- 2004
- 1,187
- PDF
ROBUST AND AUTOMATIC VANISHING POINTS DETECTION WITH THEIR UNCERTAINTIES FROM A SINGLE UNCALIBRATED IMAGE, BY PLANES EXTRACTION ON THE UNIT SPHERE
- Computer Science
- 2008
- 18
- PDF
An Alternative Formulation for Five Point Relative Pose Problem
- Mathematics
- 2007 IEEE Workshop on Motion and Video Computing (WMVC'07)
- 2007
- 38
- PDF
Five-Point Motion Estimation Made Easy
- Mathematics, Computer Science
- 18th International Conference on Pattern Recognition (ICPR'06)
- 2006
- 225
- PDF
Computation of ego motion using the vertical cue
- Computer Science
- Machine Vision and Applications
- 2005
- 15
Performance evaluation of the five-point relative pose with emphasis on planar scenes
- Computer Science
- 2007
- 18
- PDF
Automatic recovery of relative camera rotations for urban scenes
- Mathematics, Computer Science
- Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662)
- 2000
- 199
- PDF
Vision and Inertial Sensor Cooperation Using Gravity as a Vertical Reference
- Computer Science
- IEEE Trans. Pattern Anal. Mach. Intell.
- 2003
- 162
- PDF