Minimal Solutions to Generalized Three-View Relative Pose Problem
(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:
https://lup.lub.lu.se/record/d5578d23-e6c8-4a60-9334-6cfb4c08c679
- author
- Ding, Yaqing LU ; Chien, Chiang Heng ; Larsson, Viktor LU ; Åström, Karl LU and Kimia, Benjamin
- organization
- publishing date
- 2023
- 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}}, }