3D rectification with Visual Sphere perspective: an algebraic alternative for P4P pose estimation

04/19/2020

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by   Jakub Maksymilian Fober, et al.

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Presented algorithm solves co-planar P4P problem of parallel lines viewed in perspective with algebraic equation. Introduction of visual sphere model extends this algorithm to exotic non-linear projections, where view angle can span to 180 and beyond; a hard-limit of rectilinear perspective used in planar homography. This algorithm can perform full 3D reconstruction of visible rectangle, including pose estimation, and camera orientation. It requires some camera-lens information like angle of view (for rectilinear projection) or a perspective map.