DocumentCode
1871033
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
Volume
3
fYear
2002
fDate
2002
Firstpage
2931
Lastpage
2937
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013677
Filename
1013677
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