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Direct optimization of frame-to-frame rotation

Kneip, Laurent; Lynen, Simon


This work makes use of a novel, recently proposed epipolar constraint for computing the relative pose between two calibrated images. By enforcing the co planarity of epipolar plane normal vectors, it constrains the three degrees of freedom of the relative rotation between two camera views directly-independently of the translation. The present paper shows how the approach can be extended to n points, and translated into an efficient eigenvalue minimization over the three rotational degrees of...[Show more]

CollectionsANU Research Publications
Date published: 2013
Type: Conference paper
Source: Proceedings of the IEEE International Conference on Computer Vision
DOI: 10.1109/ICCV.2013.292


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