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Two-View Triangulation: A Novel Approach Using Sampson’s Distance

  • Gaurav Verma
  • Shashi Poddar
  • Vipan Kumar
  • Amitava DasEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1022)

Abstract

With the increase in the need for video-based navigation, the estimation of 3D coordinates of a point in space, using images, is one of the most challenging tasks in the field of computer vision. In this work, we propose a novel approach to formulate the triangulation problem using Sampson’s distance, and have shown that the approach theoretically converges toward an existing state-of-the-art algorithm. The theoretical formulation required for achieving optimal solution is presented along with its comparison with the existing algorithm. Based on the presented solution, it has been shown that the proposed approach converges closely to Kanatani–Sugaya–Niitsuma algorithm. The purpose of this research is to open a new frontier to view the problem in a novel way and further work on this approach may lead to some new findings to the triangulation problem.

Keywords

Triangulation Stereovision Monocular vision Fundamental matrix Epipolar geometry 

Notes

Acknowledgements

The authors would like to thank Dr. Peter Lindstrom, Lawrence Livermore National Laboratory, for sharing with us the data set on which he has tested his method in [14].

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Gaurav Verma
    • 1
    • 2
  • Shashi Poddar
    • 1
    • 2
  • Vipan Kumar
    • 1
    • 2
  • Amitava Das
    • 1
    • 2
    Email author
  1. 1.CSIR-Central Scientific Instruments Organisation (CSIO)ChandigarhIndia
  2. 2.Academy of Scientific Innovation and Research (AcSIR)ChandigarhIndia

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