About: Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	In this paper we provide new simple closed-form solutions to two minimal absolute pose problems for the case of known vertical direction. In the first problem we estimate absolute pose of a calibrated camera from two 2D-3D correspondences and a given vertical direction. In the second problem we assume camera with unknown focal length and radial distortion and estimate its pose together with the focal length and the radial distortion from three 2D-3D correspondences and a given vertical direction. The vertical direction can be obtained either by direct physical measurement by, e.g., gyroscopes and inertial measurement units or from vanishing points constructed in images. Both our problems result in solving one polynomial equation of degree two in one variable and one, respectively two, systems of linear equations and can be efficiently solved in a closed-form. By evaluating our algorithms on synthetic and real data we demonstrate that both our solutions are fast, efficient and numerical In this paper we provide new simple closed-form solutions to two minimal absolute pose problems for the case of known vertical direction. In the first problem we estimate absolute pose of a calibrated camera from two 2D-3D correspondences and a given vertical direction. In the second problem we assume camera with unknown focal length and radial distortion and estimate its pose together with the focal length and the radial distortion from three 2D-3D correspondences and a given vertical direction. The vertical direction can be obtained either by direct physical measurement by, e.g., gyroscopes and inertial measurement units or from vanishing points constructed in images. Both our problems result in solving one polynomial equation of degree two in one variable and one, respectively two, systems of linear equations and can be efficiently solved in a closed-form. By evaluating our algorithms on synthetic and real data we demonstrate that both our solutions are fast, efficient and numerical (en)
Title	Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction (en)
skos:prefLabel	Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction (en)
skos:notation	RIV/68407700:21230/11:00175555!RIV12-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	P S Z
http://linked.open...avai/riv/aktivity	P(7E09062), S, Z(MSM6840770038)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Pajdla, Tomáš Kúkelová, Zuzana
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	190641
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00175555
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	absolte pose problems; vertical direction; imu; minimal problems (en)
http://linked.open.../riv/klicoveSlovo	absolte pose problems imu minimal problems vertical direction
http://linked.open...ontrolniKodProRIV	[D4D84FADA544]
http://linked.open...v/mistoKonaniAkce	Queenstown
http://linked.open...i/riv/mistoVydani	Heidelberg
http://linked.open...i/riv/nazevZdroje	ACCV 2010: Proceedings of the 10th Asian Conference on Computer Vision, Part II
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Planetary Robotics Vision Ground Processing
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Bujňák, Martin Kúkelová, Zuzana Pajdla, Tomáš
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000295546500017
http://linked.open.../riv/zahajeniAkce	2010-11-08 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Decision Making and Control for Manufacturing III
issn	0302-9743
number of pages	14 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Springer-Verlag
https://schema.org/isbn	978-3-642-19308-8
http://localhost/t...ganizacniJednotka	21230
is http://linked.open...avai/riv/vysledek of	Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction Closed-Form Solutions to Minimal Absolute Pose Problems with Known Vertical Direction

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