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Minimal Solutions to Generalized Three-View Relative Pose Problem

Ding, Yaqing LU ; Chien, Chiang Heng ; Larsson, Viktor LU ; Åström, Karl LU orcid and Kimia, Benjamin (2023) 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023 In Proceedings of the IEEE International Conference on Computer Vision p.8122-8130
Abstract

For a generalized (or non-central) camera model, the minimal problem for two views of six points has efficient solvers. However, minimal problems of three views with four points and three views of six lines have not yet been explored and solved, despite the efforts from the computer vision community. This paper develops the formulations of these two minimal problems and shows how state-of-the-art GPU implementations of Homotopy Continuation solver can be used effectively. The proposed methods are evaluated on both synthetic and real datasets, demonstrating that they are fast, accurate and that they improve on structure from motion estimations, when employed in an hypothesis and test setting.

Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
series title
Proceedings of the IEEE International Conference on Computer Vision
pages
9 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023
conference location
Paris, France
conference dates
2023-10-02 - 2023-10-06
external identifiers
  • scopus:85181810450
ISSN
1550-5499
ISBN
9798350307184
DOI
10.1109/ICCV51070.2023.00749
language
English
LU publication?
yes
additional info
Publisher Copyright: © 2023 IEEE.
id
d5578d23-e6c8-4a60-9334-6cfb4c08c679
date added to LUP
2024-06-07 14:23:36
date last changed
2024-08-12 17:29:11
@inproceedings{d5578d23-e6c8-4a60-9334-6cfb4c08c679,
  abstract     = {{<p>For a generalized (or non-central) camera model, the minimal problem for two views of six points has efficient solvers. However, minimal problems of three views with four points and three views of six lines have not yet been explored and solved, despite the efforts from the computer vision community. This paper develops the formulations of these two minimal problems and shows how state-of-the-art GPU implementations of Homotopy Continuation solver can be used effectively. The proposed methods are evaluated on both synthetic and real datasets, demonstrating that they are fast, accurate and that they improve on structure from motion estimations, when employed in an hypothesis and test setting.</p>}},
  author       = {{Ding, Yaqing and Chien, Chiang Heng and Larsson, Viktor and Åström, Karl and Kimia, Benjamin}},
  booktitle    = {{Proceedings - 2023 IEEE/CVF International Conference on Computer Vision, ICCV 2023}},
  isbn         = {{9798350307184}},
  issn         = {{1550-5499}},
  language     = {{eng}},
  pages        = {{8122--8130}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{Proceedings of the IEEE International Conference on Computer Vision}},
  title        = {{Minimal Solutions to Generalized Three-View Relative Pose Problem}},
  url          = {{http://dx.doi.org/10.1109/ICCV51070.2023.00749}},
  doi          = {{10.1109/ICCV51070.2023.00749}},
  year         = {{2023}},
}