WO2004081868A3 - Method and apparatus for determining camera pose from point correspondences - Google Patents

Method and apparatus for determining camera pose from point correspondences Download PDF

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Publication number
WO2004081868A3
WO2004081868A3 PCT/US2004/007420 US2004007420W WO2004081868A3 WO 2004081868 A3 WO2004081868 A3 WO 2004081868A3 US 2004007420 W US2004007420 W US 2004007420W WO 2004081868 A3 WO2004081868 A3 WO 2004081868A3
Authority
WO
WIPO (PCT)
Prior art keywords
camera pose
point correspondences
determining camera
motion
pose
Prior art date
Application number
PCT/US2004/007420
Other languages
French (fr)
Other versions
WO2004081868A2 (en
Inventor
David Nister
Original Assignee
Sarnoff Corp
David Nister
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sarnoff Corp, David Nister filed Critical Sarnoff Corp
Priority to EP04719797A priority Critical patent/EP1627358A4/en
Publication of WO2004081868A2 publication Critical patent/WO2004081868A2/en
Publication of WO2004081868A3 publication Critical patent/WO2004081868A3/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Abstract

A method and apparatus for determining camera pose from point correspondences. Specifically, an efficient solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera motion between two calibrated views given five corresponding points. The method consists of computing the coefficients of a tenth degree polynomial and subsequently finding its roots. The method is well suited for numerical implementation that also corresponds to the inherent complexity of the problem. The method is used in a robust hypothesize-and-test framework to estimate structure and motion in real-time.
PCT/US2004/007420 2003-03-11 2004-03-11 Method and apparatus for determining camera pose from point correspondences WO2004081868A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04719797A EP1627358A4 (en) 2003-03-11 2004-03-11 Method and apparatus for determining camera pose from point correspondences

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US45362503P 2003-03-11 2003-03-11
US60/453,625 2003-03-11
US50333203P 2003-09-16 2003-09-16
US60/503,332 2003-09-16

Publications (2)

Publication Number Publication Date
WO2004081868A2 WO2004081868A2 (en) 2004-09-23
WO2004081868A3 true WO2004081868A3 (en) 2008-10-16

Family

ID=32994514

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/007420 WO2004081868A2 (en) 2003-03-11 2004-03-11 Method and apparatus for determining camera pose from point correspondences

Country Status (3)

Country Link
US (1) US7359526B2 (en)
EP (1) EP1627358A4 (en)
WO (1) WO2004081868A2 (en)

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CN104408436A (en) * 2014-12-08 2015-03-11 上海宇航系统工程研究所 Identification method and identification system for cooperative target based on back projection

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US8467570B2 (en) * 2006-06-14 2013-06-18 Honeywell International Inc. Tracking system with fused motion and object detection
WO2008114207A2 (en) * 2007-03-21 2008-09-25 Nxp B.V. Camera arrangement and method for determining a relative position of a first camera with respect to a second camera
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FR2960082B1 (en) * 2010-05-17 2012-08-10 Commissariat Energie Atomique METHOD AND SYSTEM FOR MERGING DATA FROM IMAGE SENSORS AND MOTION OR POSITION SENSORS
US8837811B2 (en) * 2010-06-17 2014-09-16 Microsoft Corporation Multi-stage linear structure from motion
EP2622576A4 (en) 2010-10-01 2017-11-08 Saab AB Method and apparatus for solving position and orientation from correlated point features in images
US8971641B2 (en) * 2010-12-16 2015-03-03 Microsoft Technology Licensing, Llc Spatial image index and associated updating functionality
KR101172629B1 (en) * 2011-01-04 2012-08-08 포항공과대학교 산학협력단 Method of processing image and apparatus for the same
US8620095B2 (en) * 2011-03-15 2013-12-31 Microsoft Corporation Performing structure from motion for unordered images of a scene with multiple object instances
US8848970B2 (en) 2011-04-26 2014-09-30 Digimarc Corporation Salient point-based arrangements
US8761439B1 (en) 2011-08-24 2014-06-24 Sri International Method and apparatus for generating three-dimensional pose using monocular visual sensor and inertial measurement unit
US9497443B1 (en) * 2011-08-30 2016-11-15 The United States Of America As Represented By The Secretary Of The Navy 3-D environment mapping systems and methods of dynamically mapping a 3-D environment
US9684941B2 (en) 2012-10-29 2017-06-20 Digimarc Corporation Determining pose for use with digital watermarking, fingerprinting and augmented reality
US9904852B2 (en) 2013-05-23 2018-02-27 Sri International Real-time object detection, tracking and occlusion reasoning
US20150178927A1 (en) * 2013-12-23 2015-06-25 Metaio Gmbh Method and system for determining a transformation associated with a capturing device
US9311639B2 (en) 2014-02-11 2016-04-12 Digimarc Corporation Methods, apparatus and arrangements for device to device communication
US9846963B2 (en) * 2014-10-03 2017-12-19 Samsung Electronics Co., Ltd. 3-dimensional model generation using edges
US10152828B2 (en) * 2015-09-30 2018-12-11 Umap AV Corp. Generating scene reconstructions from images
US11372455B2 (en) * 2019-02-15 2022-06-28 The Johns Hopkins University Imaging sensor-based position detection
US11340696B2 (en) 2020-01-13 2022-05-24 Sony Interactive Entertainment Inc. Event driven sensor (EDS) tracking of light emitting diode (LED) array
US11308644B2 (en) * 2020-08-28 2022-04-19 Weta Digital Limited Multi-presence detection for performance capture
CN112288845B (en) * 2020-09-18 2022-10-21 中国电建集团河北省电力勘测设计研究院有限公司 Rapid three-dimensional modeling method for thermal control instrument
EP4019949A1 (en) * 2020-12-24 2022-06-29 Inel S.A.S Methods and system for materials characterization using multiple instruments and data fusion

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Non-Patent Citations (2)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104408436A (en) * 2014-12-08 2015-03-11 上海宇航系统工程研究所 Identification method and identification system for cooperative target based on back projection
CN104408436B (en) * 2014-12-08 2017-10-27 上海宇航系统工程研究所 A kind of cooperative target recognition methods and system based on back projection

Also Published As

Publication number Publication date
EP1627358A4 (en) 2011-08-24
WO2004081868A2 (en) 2004-09-23
US20040227820A1 (en) 2004-11-18
US7359526B2 (en) 2008-04-15
EP1627358A2 (en) 2006-02-22

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