Abstract
In this paper we present a new efficient solution to the absolute pose problem for a camera with unknown focal length and radial distortion from four 2D-to-3D point correspondences. We propose to solve the problem separately for non-planar and for planar scenes. By decomposing the problem into these two situations we obtain simpler and more efficient solver than the previously known general solver. We demonstrate in synthetic and real experiments significant speedup as our new solvers are about 40× (non-planar) and 160× (planar) faster than the general solver. Moreover, we show that our two solvers can be joined into a new general solver, which gives comparable or better results than the existing general solver for of most planar as well as non-planar scenes.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
2D3. Boujou, http://www.2d3.com
Abdel-Aziz, Y., Karara, H.: Direct linear transformation from comparator to object space coordinates in close-range photogrammetry. In: ASP Symp. Close-Range Photogrammetry, pp. 1–18 (1971)
Abidi, M.A., Chandra, T.: A new efficient and direct solution for pose estimation using quadrangular targets: Algorithm and evaluation. IEEE PAMI 17, 534–538 (1985)
Ameller, M.A., Quan, M., Triggs, L.: Camera pose revisited – new linear algorithms. In: ECCV (2000)
Bujnak, M., Kukelova, Z., Pajdla, T.: A general solution to the P4P problem for camera with unknown focal length. In: CVPR (2008)
Byröd, M., Josephson, K., Åström, K.: Fast and Stable Polynomial Equation Solving and Its Application to Computer Vision. Int. J. Computer Vision 84, 237–255 (2009)
Chum, O., Matas, J., Kittler, J.: Locally optimized RANSAC. In: DAGM, pp. 236–243 (2003)
Cox, D., Little, J., O’Shea, D.: Using Algebraic Geometry, 2nd edn., vol. 185. Springer, Berlin (2005)
Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Comm. ACM 24, 381–395 (1981)
Fitzgibbon, A.: Simultaneous linear estimation of multiple view geometry and lens distortion. In: CVPR, pp. 125–132 (2001)
Grunert, J.A.: Das pothenot’sche problem, in erweiterter gestalt; nebst bemerkungen über seine anwendung in der geodäsie. Archiv der Mathematik und Physik 1, 238–248 (1841)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2003)
Moreno-Noguer, F., Lepetit, V., Fua, P.: Accurate non-iterative o(n) solution to the pnp problems. In: ICCV (2007)
Josephson, K., Byröd, M., Aström, K.: Pose Estimation with Radial Distortion and Unknown Focal Length. In: CVPR (2009)
Kukelova, Z., Bujnak, M., Pajdla, T.: Automatic Generator of Minimal Problem Solvers. In: Forsyth, D., Torr, P., Zisserman, A. (eds.) ECCV 2008, Part III. LNCS, vol. 5304, pp. 302–315. Springer, Heidelberg (2008)
Leibe, B., Cornelis, N., Cornelis, K., Gool, L.J.V.: Dynamic 3d scene analysis from a moving vehicle. In: CVPR (2007)
Leibe, B., Schindler, K., Gool, L.J.V.: Coupled detection and trajectory estimation for multi-object. In: ICCV (2007)
Quan, L., Lan, Z.-D.: Linear n-point camera pose determination. IEEE PAMI 21, 774–780 (1999)
Reid, G., Tang, J., Zhi, L.: A complete symbolic-numeric linear method for camera pose determination. In: ISSAC, pp. 215–223 (2003)
Slama, C.C. (ed.): Manual of Photogrammetry. American Society of Photogrammetry and Remote Sensing, Falls Church, Virginia (1980)
Snavely, N., Seitz, S.M., Szeliski, R.: Photo tourism: Exploring photo collections in 3D. ACM Trans. Graphics Proc. 25 (2006)
Stewénius, H., Engels, C., Nistér, D.: Recent developments on direct relative orientation. ISPRS J. Photogrammetry Remote Sensing 60, 284–294 (2006)
Triggs, B.: Camera pose and calibration from 4 or 5 known 3d points. In: ICCV, pp. 278–284 (1999)
Wu, Y., Hu, Z.: PNP problem revisited. J. Math. Imaging Vision 24, 131–141 (2006)
Zhi, L., Tang, J.: A complete linear 4-point algorithm for camera pose determination. In: AMSS, Academia Sinica (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bujnak, M., Kukelova, Z., Pajdla, T. (2011). New Efficient Solution to the Absolute Pose Problem for Camera with Unknown Focal Length and Radial Distortion. In: Kimmel, R., Klette, R., Sugimoto, A. (eds) Computer Vision – ACCV 2010. ACCV 2010. Lecture Notes in Computer Science, vol 6492. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19315-6_2
Download citation
DOI: https://doi.org/10.1007/978-3-642-19315-6_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19314-9
Online ISBN: 978-3-642-19315-6
eBook Packages: Computer ScienceComputer Science (R0)