Title :
Pose estimation for generalized imaging device via solving non-perspective N point problem
Author :
Chen, Chu-Song ; Chang, Wen-Yan
Author_Institution :
Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan
Abstract :
In this paper we present a systematic method for pose estimation of such a generalized imaging device. We reformulate it as a non-perspective n point (NPnP) problem. The case with exact solutions, for n=3, is investigated comprehensively. Approximate solutions can also be found for n>3 with our approach in a least-squared-error manner. The proposed method can be used not only to perspective imaging devices, but also non-perspective ones
Keywords :
computer vision; error analysis; image processing; least squares approximations; NPnP problem; generalized imaging device; least-squared-error; nonperspective point problem; omnidirectional camera; polynomials; pose estimation; three point problem; Cameras; Carbon capture and storage; Humans; Image generation; Information science; Mobile robots; Rendering (computer graphics); Robot vision systems; Surveillance; Virtual reality;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013677
