Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem
This paper introduces two novel solutions to the generalized-camera exterior orientation problem, which has a vast number of potential applications in robotics: (i) a minimal solution requiring only three point correspondences, and (ii) gPnP, an efficient, non-iterative n-point solution with linear complexity in the number of points. Already existing minimal solutions require exhaustive algebraic derivations. In contrast, our novel minimal solution is solved in a straightforward manner using...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings - IEEE International Conference on Robotics and Automation|
|01_Kneip_Using_Multi-Camera_Systems_in_2013.pdf||751.26 kB||Adobe PDF||Request a copy|
|02_Kneip_Using_Multi-Camera_Systems_in_2013.pdf||1.51 MB||Adobe PDF||Request a copy|
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