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Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem

Kneip, Laurent; Furgale, Paul; Siegwart, Roland


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]

CollectionsANU Research Publications
Date published: 2013
Type: Conference paper
Source: Proceedings - IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2013.6631107


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