Using multi-camera systems in robotics: Efficient solutions to the NPnP problem

@article{Kneip2013UsingMS,
  title={Using multi-camera systems in robotics: Efficient solutions to the NPnP problem},
  author={Laurent Kneip and Paul Timothy Furgale and Roland Siegwart},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={3770-3776}
}
This paper introduces two novel solutions to the generalized-camera exterior orientation problem, which has a vast number of potential applications in robotics: (i) a minimal solution requiring only three point correspondences, and (ii) gPnP, an efficient, non-iterative n-point solution with linear complexity in the number of points. Already existing minimal solutions require exhaustive algebraic derivations. In contrast, our novel minimal solution is solved in a straightforward manner using… CONTINUE READING
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