Determination of camera location from 2-D to 3-D line and pointcorrespondences
Liu, Y.
Huang, T.S.
Faugeras, O.D.
Coordinated Sci. Lab., Illinois Univ., Urbana, IL ;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jan 1990
Volume: 12,
Issue: 1
On page(s): 28-37
ISSN: 0162-8828
References Cited: 11
CODEN: ITPIDJ
INSPEC Accession Number: 3606838
Digital Object Identifier: 10.1109/34.41381
Current Version Published: 2002-08-06
Abstract
A method for the determination of camera location from
two-dimensional (2-D) to three-dimensional (3-D) straight line or point
correspondences is presented. With this method, the computations of the
rotation matrix and the translation vector of the camera are separable.
First, the rotation matrix is found by a linear algorithm using eight or
more line correspondences, or by a nonlinear algorithm using three or
more line correspondences, where the line correspondences are either
given or derived from point correspondences. Then, the translation
vector is obtained by solving a set of linear equations based on three
or more line correspondences, or two or more point correspondences.
Eight 2-D to 3-D line correspondences or six 2-D to 3-D point
correspondences are needed for the linear approach; three 2-D to 3-D
line or point correspondences for the nonlinear approach. Good results
can be obtained in the presence of noise if more than the minimum
required number of correspondences are used
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