Direct Optimization of Frame-to-Frame Rotation

@article{Kneip2013DirectOO,
  title={Direct Optimization of Frame-to-Frame Rotation},
  author={L. Kneip and Simon Lynen},
  journal={2013 IEEE International Conference on Computer Vision},
  year={2013},
  pages={2352-2359}
}
  • L. Kneip, Simon Lynen
  • Published 2013
  • Mathematics, Computer Science
  • 2013 IEEE International Conference on Computer Vision
This work makes use of a novel, recently proposed epipolar constraint for computing the relative pose between two calibrated images. By enforcing the coplanarity of epipolar plane normal vectors, it constrains the three degrees of freedom of the relative rotation between two camera views directly-independently of the translation. The present paper shows how the approach can be extended to n points, and translated into an efficient eigenvalue minimization over the three rotational degrees of… Expand
41 Citations
Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras
  • Highly Influenced
  • PDF
Efficient Computation of Relative Pose for Multi-camera Systems
  • L. Kneip, Hongdong Li
  • Mathematics, Computer Science
  • 2014 IEEE Conference on Computer Vision and Pattern Recognition
  • 2014
  • 46
  • PDF
An Efficient Method to Recover Relative Pose for Vehicle-Mounted Cameras Under Planar Motion
  • 1
The generalized relative pose and scale problem: View-graph fusion via 2D-2D registration
  • 6
  • PDF
A 2-point pose estimation algorithm for monocular visual odometry of ground vehicles
  • 2
Monocular Rotational Odometry with Incremental Rotation Averaging and Loop Closure
  • 1
  • Highly Influenced
  • PDF
An Efficient Solution to Non-Minimal Case Essential Matrix Estimation
  • J. Zhao
  • Computer Science, Medicine
  • IEEE transactions on pattern analysis and machine intelligence
  • 2020
  • 13
  • Highly Influenced
  • PDF
A Closed-Form Solution to Rotation Estimation for Structure from Small Motion
  • 5
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 22 REFERENCES
Finding the Exact Rotation between Two Images Independently of the Translation
  • 74
  • PDF
Estimating Relative Camera Motion from the Antipodal-Epipolar Constraint
  • 27
  • PDF
An efficient solution to the five-point relative pose problem
  • D. Nistér
  • Mathematics, Computer Science
  • IEEE Transactions on Pattern Analysis and Machine Intelligence
  • 2004
  • 1,204
  • Highly Influential
  • PDF
Global Optimization through Rotation Space Search
  • R. Hartley, F. Kahl
  • Mathematics, Computer Science
  • International Journal of Computer Vision
  • 2008
  • 187
  • PDF
Five-Point Motion Estimation Made Easy
  • Hongdong Li, R. Hartley
  • Mathematics, Computer Science
  • 18th International Conference on Pattern Recognition (ICPR'06)
  • 2006
  • 230
  • PDF
Recent developments on direct relative orientation
  • 425
  • PDF
Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation
  • 147
  • PDF
Essential Matrix Estimation Using Gauss-Newton Iterations on a Manifold
  • 71
  • PDF
An Efficient Minimal Solution for Infinitesimal Camera Motion
  • 24
  • PDF
In Defense of the Eight-Point Algorithm
  • R. Hartley
  • Computer Science
  • IEEE Trans. Pattern Anal. Mach. Intell.
  • 1997
  • 1,600
  • Highly Influential
  • PDF
...
1
2
3
...