Resultant Based Incremental Recovery of Camera Pose from Pairwise Matches

01/27/2019
by   Yoni Kasten, et al.
0

Incremental (online) structure from motion pipelines seek to recover the camera matrix associated with an image I_n given n-1 images, I_1,...,I_n-1, whose camera matrices have already been recovered. In this paper, we introduce a novel solution to the six-point online algorithm to recover the exterior parameters associated with I_n. Our algorithm uses just six corresponding pairs of 2D points, extracted each from I_n and from any of the preceding n-1 images, allowing the recovery of the full six degrees of freedom of the n'th camera, and unlike common methods, does not require tracking feature points in three or more images. Our novel solution is based on constructing a Dixon resultant, yielding a solution method that is both efficient and accurate compared to existing solutions. We further use Bernstein's theorem to prove a tight bound on the number of complex solutions. Our experiments demonstrate the utility of our approach.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
04/09/2017

Quaternion Based Camera Pose Estimation From Matched Feature Points

We present a novel solution to the camera pose estimation problem, where...
research
09/28/2018

Camera Pose Estimation from Sequence of Calibrated Images

In this paper a method for camera pose estimation from a sequence of ima...
research
02/10/2017

A New Rank Constraint on Multi-view Fundamental Matrices, and its Application to Camera Location Recovery

Accurate estimation of camera matrices is an important step in structure...
research
05/11/2017

Distribution of degrees of freedom over structure and motion of rigid bodies

This paper is concerned with recovery of motion and structure parameters...
research
04/04/2019

Algebraic Characterization of Essential Matrices and Their Averaging in Multiview Settings

Essential matrix averaging, i.e., the task of recovering camera location...
research
03/06/2015

Linear Global Translation Estimation with Feature Tracks

This paper derives a novel linear position constraint for cameras seeing...
research
11/29/2014

Robust Camera Location Estimation by Convex Programming

3D structure recovery from a collection of 2D images requires the estima...

Please sign up or login with your details

Forgot password? Click here to reset