DocumentCode :
2615345
Title :
Analysis and solutions of the three point perspective pose estimation problem
Author :
Haralick, Robert M. ; Lee, Chung-nan ; Ottenburg, K. ; Nölle, Michael
Author_Institution :
Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA
fYear :
1991
fDate :
3-6 Jun 1991
Firstpage :
592
Lastpage :
598
Abstract :
The major direct solutions to the three-point perspective pose estimation problems are reviewed from a unified perspective. The numerical stability of these three-point perspective solutions are discussed. It is shown that even in cases where the solution is not near the geometric unstable region considerable care must be exercised in the calculation. Depending on the order of the substitutions utilized, the relative error can change over a thousand to one. This difference is due entirely to the way the calculations are performed and not to any geometric structural instability of any problem instance. An analytical method is presented which produces a numerically stable calculation
Keywords :
computer vision; computerised pattern recognition; error analysis; analytical method; direct solutions; geometric structural instability; geometric unstable region; numerical stability; perspective projection; relative error; three point perspective pose estimation; Cameras; Computer errors; Computer vision; Differential equations; Intelligent systems; Laboratories; Numerical stability; Polynomials; Protocols; Roundoff errors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Conference_Location :
Maui, HI
ISSN :
1063-6919
Print_ISBN :
0-8186-2148-6
Type :
conf
DOI :
10.1109/CVPR.1991.139759
Filename :
139759
Link To Document :
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