Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics and Image Processing, 47:33--44.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....using this subset, and then transforming the other points and measuring their distance from the corresponding image points. The obtained distances are clearly suboptimal. However, by relying on small subsets of correspondences alignment can overcome occlusion and clutter. Three [4] or four [6] corresponding points are required under perspective projection, and three points under weak perspective [7] 3 Definitions and notation In the following discussion, we assume weak perspective projection. Namely, the object undergoes a 3D transformation that includes rotation, translation, and ....

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing, 47:33--44.

....of a small subset of correspondences (alignment key) solving for the transformation using this subset, and then transforming the other points and measuring their distance from the corresponding image points. Three [Fischler and Bolles, 1981,Rives et al. 1981, Haralick et al. 1991] or four [Horaud et al. 1989] points are required under perspective projection, and three points under weak perspective [Ullman, 1989, Huttenlocher and Ullman, 1987] The obtained distance critically depends on the choice of alignmentkey. Differentchoices produce different distance measures between the model and the image. ....

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing, 47:33--44.

....to solve for the model, and the method of solving (analytic or iterative, how many stages, etc. Tsai [19] and Jain et al. 8] review these issues in the context of machine vision. Talluri and Aggarwal [17] review these issues in the context of mobile robot position estimation. Horaud et al. [6] review these issues in the context of exterior camera calibration. Robert [15] presents an interesting approach in which steps one and two are iteratively solved simultaneously. However, this method still requires an initial close estimate of correspondences. In this work (for step two) we use ....

R. Horaud, B. Conio and O. Leboulleux, "An Analytic Solution for the Perspective 4-Point Problem", in Computer Vision, Graphics, and Image Processing, vol. 47, 1989, pp. 33-44.

....However, their method does not have a time limit (performing random trials) making it unsuitable for real time applications. Horaud et al. developed a four point pose method using non coplanar points. Geometric constraints are used to solve biquadratic polynomial equations with one unknown [HORA89] They assert that their method is real time, providing fewer solutions than 3 point based methods, and is more stable (not dependent on the relative orientation of the image plane and scene plane) The problem of multiple solutions persists and near coplanar points and noise produce unstable ....

Radu Horaud, Bernard Conio, and Oliver Leboulleux, "An Analytic Solution for the Perspective 4-Point Problem", Computer Vision, Graphics, and Image Proceeding 47, 33-44 (1989)

....of four coplanar points is examined for various combinations of object and image point collinearity conditions. Four noncoplanar corresponding points are shown to have, at most, four solutions. An analytic solution to the perspective four point pose determination problem is given by Horaud et al. [18]. The general case of noncoplanar is considered, with special cases of four coplanar points and four points forming a right vertex. While a detailed derivation is shown, no experimental results are provided. Howard and Book [19] describe a video based sensor intended for automated docking systems. ....

R. Horaud, B. Conio, and O. Leboulleux, "An analytic solution for the perspective 4-point problem," Computer Vision, Graphics, and Image Processing, vol. 47, pp. 33--44, 1989.

....optical centre of the lens, the lens distortion correction parameters, the horizontal pixel width and vertical pixel height of the CCD element and the location of the optical centre of the lens on the CCD elements 2D co ordinate frame. Several methods are proposed as a solution to this problem [7,8,9,10,11]. Iovenitti et al. has proposed a method of three dimensional measurement using a single object [7,8] However, the method is based on a situation where the distance to the object is about the same as the focal length of the objective. That is why the proposed method is not usable in this ....

....situation where the distance to the object is about the same as the focal length of the objective. That is why the proposed method is not usable in this situation where the measurement distance is about 5 meters. Horaud et al. has proposed an analytical solution for the perspective 4 point problem [9]. Jrviluoma has proposed some improvements to the Horaud s method [10] In this experiment the INTERNATIONAL CONFERENCE ON QUALITY CONTROL BY ARTIFICIAL VISION May 28, 29 and 30, 1997 Le Creusot, Bourgogne, FRANCE measurement of the plate position in a 3D pose was based on Horaud s and ....

[Article contains additional citation context not shown here]

Horaud, R., Conio, B., Leboulleux, O., "An analytic solution for the perspective 4-point problem", Computer Vision Graphics and Image Process. Vol. 47, pp. 33-44, 1989.

....Starting with the scaled orthographic projection, this method iteratively refines up to two different pose estimates, and provides an associated quality measure for each pose. Faugeras also developed a pose estimation methodology based on the 2D to 3D line or point correspondences [43] Horaud [29] also proposed an analytic solution for the perspective 4 point problem. The solution proposed was found by replacing the four points with a pencil of three lines and by exploring the geometric constraints available with the perspective camera model. Solutions for coplanar BATISTA et al. ....

R. Haroud, B. Conio and O. Leboulleux, "An Analytic Solution for the Perspective 4-Point Problem", in Computer Vision, Graphics and Image Processing, no. 47, pp. 33-44, 1989.

....from point feature information reduces to a well known research field known as pose estimation. It has been shown that for the general case of estimating the position and orientation of a rigid object under perspective projection, unique solutions exist for 4 coplanar, but not collinear, points [100]. Thus, an upper limit on the minimum number of features required to compute the position and orientation of each link of an articulated object is four per active link of the object. However, knowledge of the kinematics of the object could reduce this number. For example, consider the case of the ....

R. Horaud, B. Canio, and O. Leboullenx, "An analytic solution for the perspective 4-point problem," Computer Vision Graphics and Image Processing, vol. 47, no. 1, pp. 33--44, 1989.

....Tracking Vision based tracking is the problem of calibrating a camera s pose relative to an object, given one or more images. Vision based tracking methods can be roughly grouped into the three following categories, based on their requirements: Three or more known 3D points from a single image [FISC81, GANA84, HORA89, KLIN97, KUTU96, MELL95, SHAR97, NEUM96, WARD92] A sequence of images from a moving camera where point positions may be known or unknown [AZAR95, BROI90, SOAT94, WELC97, UENO95] Model and template matching from a single image [LU96 , NATO95] The first class of approaches uses a calibrated camera to provide constraints to the pose ....

R. Horaud, B. Conio, O. Leboulleux, "An Analytic Solution for the Perspective 4-point Problem," Compter Vision, Graphics, and Image Processing, Vol. 47, No. 1, pp. 33-43, 1989

....often called alignment, involves the selection of a small subset of correspondences (alignment key) solving for the transformation using this subset, and then transforming the other points and measuring their distance from the corresponding image points. Three [FB81, RBPD81, HLON91] or four [HCLL89] points are required under perspective projection, and three points under weak perspective [U89, HU87] The obtained distance critically depends on the choice of alignment key. Different choices produce different distance measures between the model and the image. The results almost always are ....

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing, 47:33--44.

....its 2D projection expressed in image coordinates. For three or four points, exact solutions can be computed: a fourth or fifth degree polynomial system can be formulated using geometrical invariants of the observed points, and the problem can be solved by finding roots of the polynomial system [7, 8, 9, 10, 11, 12]. However, the resulting methods can only be applied to a limited number of points and are thus sensitive to additive noise and possible outliers. For more than four points, closed form solutions do not exist. The classical approach used in photogrammetry is to formulate pose estimation as a ....

R. Horaud, B. Canio, and O. Leboullenx, "An analytic solution for the perspective 4-point problem," Computer Vis. Graphics. Image Process, no. 1, pp. 33--44, 1989.

....of a small subset of correspondences (alignment key) solving for the transformation using this subset, and then transforming the other points and measuring their distance from the corresponding image points. Three [Fischler and Bolles, 1981, Rives et al. 1981, Haralick et al. 1991] or four [Horaud et al. 1989] points are required under perspective projection, and three points under weak perspective [Ullman, 1989, Huttenlocher and Ullman, 1987] The obtained distance critically depends on the choice of alignment key. Different choices produce different distance measures between the model and the image. ....

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing, 47:33--44.

....and orientation from the 3D (X,Y,Z) feature positions and their corresponding (U,V) image locations. If the feature positions aren t degenerate, the camera position and orientation can be recovered by non linear methods with a minimum of 4 points and by linear methods with a minimum of 6 points [Horaud et al. 1989] [Ganapathy, 1984b] Trying to correct the camera position this way isn t practical for at least three reasons. First, there is no way to guarantee enough features will be visible in every image. Second, these solution methods are highly sensitive to noise and spatial feature distribution. Third, ....

Horaud, R., Conio, B., and Leboulleux, O. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics and Image Processing, 47:33--44.

....solutions will be present for the problem of matching 3 model points to 3 image points, and they give a procedure for identifying each of these solutions. A solution for the corresponding 4 point problem, which can also have multiple solutions under some circumstances, is given by Horaud et al. [12]. Huttenlocher and Ullman [13] show that the 3 point problem has a simple solution for orthographic projection, which is a sufficiently close approximation to perspective projection for some applications. They use the term alignment to refer to the solution for viewpoint parameters during the ....

Horaud, R., B. Conio, O. Leboulleux, and B. Lacolle, "An analytic solution for the perspective 4-point problem," Proc. Conf. Computer Vision and Pattern Recognition, San Diego (June 1989), 500--507.

....using this subset, and then transforming the other points and measuring their distance from the corresponding image points. The obtained distances are clearly suboptimal. However, by relying on small subsets of correspondences alignment can overcome occlusion and clutter. Three [4] or four [6] corresponding points are required under perspective projection, and three points under weak perspective [7] 3 Definitions and notation In the following discussion, we assume weak perspective projection. Namely, the object undergoes a 3D transformation that includes rotation, translation, and ....

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing, 47:33--44.

No context found.

R. Horaud, B. Conio, O. Leboulleux, and B. Lacolle, "An analytic solution for the perspective 4-point problem," Computer Vision, Graphics, and Image Processing 47, pp. 33--44, July 1989.

No context found.

Horaud, R., Conio, B., Leboulleux, O., and Lacolle, B. (1989). An analytic solution for the perspective 4-point problem. Computer Vision, Graphics and Image Processing, 47:33--44.

No context found.

R. Horand, B. Conio and O. Leboullex: "An Analytic Solution for the Perspective 4-Point Problem," Computer Vision, Graphics, and Image Processing, Vol. 47, pp. 33--44, 1989.

No context found.

R. Horaud, B. Conio, O. Leboullieux, "An analytic solution for the perspective 4-point problem", Computer Vision, Graphics, and Image Processing 47, pp.33-44, 1989

No context found.

Horaud, R.; Conio, B.; Leboullieux, O., 1989. An analytic solution for the perspective 4-point problem. Computer Vision, Graphics, and Image Processing 47, pp.33-44

No context found.

R. Horaud, B. Conio, O. Leboulleux, & B. Lacolle, "An Analytic Solution for the Perspective 4-Point Problem," Proc. 1989 IEEE CVPR, pp. 500--507.

No context found.

R. Horaud, B. Conio, O. Leboulleux, and B. Lacolle, "An Analytic Solution for the Perspective 4-Point Problem," Computer Vision, Graphics, and Image Processing, vol. 47, pp. 33-44, 1989.

No context found.

R. Horaud, B. Conio, O. Leboulleux, and B. Lacolle, "An Analytic Solution for the Perspective 4-Point Problem," Proc. IEEE Conf. on Computer Vision and Pattern Recognition, pp. 500--507, 1989.

No context found.

Horaud, R., Conio, B., Leboulleux, O. "An Analytic Solution for the Perspective 4-Point Problem," Computer Vision, Graphics, and Image Processing, Vol. 47, No. 33-34 (1989), pp. 33-43.

No context found.

R. Horaud, B. Canio, and O. Leboullenx, "An analytic solution for the perspective 4-point problem," Computer Vis. Graphics. Image Process, no. 1, pp. 33--44, 1989.

First 50 documents

Online articles have much greater impact   More about CiteSeer.IST   Add search form to your site   Submit documents   Feedback  

CiteSeer.IST - Copyright Penn State and NEC