2008/07/13 by Mahzad Kalantari, Kalantari, Mahzad, Franck Jung +6
Computer Science · Engineering · #Advanced Numerical Analysis Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotic Mechanisms and Dynamics #cs.CV
paper · pdf · doi:10.48550/arxiv.0807.2047
openalex publication_date 2008/07/13 · arxiv created 2008/07/16 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is comparably an important advantage over the methods using the well-known essential matrix. This results in correct behavior and accuracy for situations otherwise known as quite unfavorable, such as planar scenes, or panoramic sets of images (with a null base length), while providing quite comparable results for more "standard" cases. The resolution of the algebraic polynomials resulting from the modeling of the coplanarity constraint is made with the help of powerful algebraic solver tools (the Groebner bases and the Rational Univariate Representation).