Abstract
Camera pose estimation is the problem of determining the position and orientation of an internally calibrated camera from known 3D reference points and their images. We introduce a new polynomial equation system for 4-point pose estimation and apply our symbolic-numeric method to solve it stably and efficiently. In particular, our algorithm can also recognize the points near critical configurations and deal with these near critical cases carefully. Numerical experiments are given to show the performance of the hybrid algorithm.
Supported by NKBRPC 2004CB318000 and Chinese National Science Foundation under Grant 10401035 and Reids Canadian NSERC Grant.
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Reid, G., Tang, J., Yu, J., Zhi, L. (2005). Hybrid Method for Solving New Pose Estimation Equation System. In: Li, H., Olver, P.J., Sommer, G. (eds) Computer Algebra and Geometric Algebra with Applications. IWMM GIAE 2004 2004. Lecture Notes in Computer Science, vol 3519. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11499251_5
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DOI: https://doi.org/10.1007/11499251_5
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