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Exhaustive linearization for robust camera pose and focal length estimation

Author
Peñate, A.; Andrade-Cetto, J.; Moreno-Noguer, F.
Type of activity
Journal article
Journal
IEEE transactions on pattern analysis and machine intelligence
Date of publication
2013
Volume
35
Number
10
First page
2387
Last page
2400
DOI
https://doi.org/10.1109/TPAMI.2013.36 Open in new window
Project funding
ARCAS: Aerial Robotics Cooperative Assembly System
IntellAct: Intelligent observation and execution of Actions and manipulations
Repository
http://hdl.handle.net/2117/22931 Open in new window
Abstract
We propose a novel approach for the estimation of the pose and focal length of a camera from a set of 3D-to-2D point correspondences. Our method compares favorably to competing approaches in that it is both more accurate than existing closed form solutions, as well as faster and also more accurate than iterative ones. Our approach is inspired on the EPnP algorithm, a recent O(n) solution for the calibrated case. Yet we show that considering the focal length as an additional unknown renders the l...
Citation
Peñate, A.; Andrade-Cetto, J.; Moreno-Noguer, F. Exhaustive linearization for robust camera pose and focal length estimation. "IEEE transactions on pattern analysis and machine intelligence", 2013, vol. 35, núm. 10, p. 2387-2400.
Keywords
computer vision paraules autor: camera calibration, perspective-n-point problem
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants