A new solution to the relative orientation problem using only 3 points and the vertical direction

DOI10.1007/S10851-010-0234-2MaRDI QIDQ1932840zbMATH OpenOpenAlexFDO

Authors Mahzad Kalantari, Amir Hashemi, Franck Jung, Jean-Pierre Guedon

Publication date 22 January 2013

Published in Journal of Mathematical Imaging and Vision (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0905.3964

zbMATH Keywords

minimal solutionrelative orientationvertical direction

Mathematics Subject Classification ID

Computing methodologies for image processing (68U10) Image processing (compression, reconstruction, etc.) in information and communication theory (94A08)

Abstract: This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU (inertial measurement unit), 2- using vertical vanishing point. This knowledge of the vertical direction solves 2 unknowns among the 3 parameters of the relative rotation, so that only 3 homologous points are requested to position a couple of images. Rewriting the coplanarity equations leads to a simpler solution. The remaining unknowns resolution is performed by an algebraic method using Grobner bases. The elements necessary to build a specific algebraic solver are given in this paper, allowing for a real-time implementation. The results on real and synthetic data show the efficiency of this method.

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Cites work

• Multiple View Geometry in Computer Vision
• Symbolic-numeric methods for solving polynomial equations and applications

Cited in

(3)

• Equivalent constraints for two-view geometry: pose solution/pure rotation identification and 3D reconstruction
• Efficient relative pose estimation for cameras and generalized cameras in case of known relative rotation angle
• A minimal closed-form solution for the perspective three orthogonal angles (P3oA) problem: application to visual odometry

Describes a project that uses

Uses Software

• SINGULAR
• Macaulay2
• FIVEPOINT
• SIFT

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