A homography formulation to the 3pt plus a common direction relative pose problem

Olivier Saurer (1) , Pascal Vasseur (2) , Cedric Demonceaux (3) , Friedrich Fraundorfer (4)

1 ETH Zürich - Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich]
2 LITIS - Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes
3 Le2i - Laboratoire Electronique, Informatique et Image [UMR6306]
4 Remote Sensing Technology, Technische Universität München

In this paper we present an alternative formulation for the minimal solution to the 3pt plus a common direction relative pose prob-lem. Instead of the commonly used epipolar constraint we use the homog-raphy constraint to derive a novel formulation for the 3pt problem. This formulation allows the computation of the normal vector of the plane defined by the three input points without any additional computation in addition to the standard motion parameters of the camera. We show the working of the method on synthetic and real data sets and compare it to the standard 3pt method and the 5pt method for relative pose estima-tion. In addition we analyze the degenerate conditions for the proposed method.

Domaines: Robotique [cs.RO]

Olivier Saurer, Pascal Vasseur, Cedric Demonceaux, Friedrich Fraundorfer. A homography formulation to the 3pt plus a common direction relative pose problem. 12th Asian Conference on Computer Vision, Nov 2014, Singapore, Singapore. ⟨hal-01081422⟩