A general solution to the P4P problem for camera with unknown focal length
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- 1 June 2008
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10636919,p. 1-8
- https://doi.org/10.1109/cvpr.2008.4587793
Abstract
This paper presents a general solution to the determination of the pose of a perspective camera with unknown focal length from images of four 3D reference points. Our problem is a generalization of the P3P and P4P problems previously developed for fully calibrated cameras. Given four 2D-to-3D correspondences, we estimate camera position, orientation and recover the camera focal length. We formulate the problem and provide a minimal solution from four points by solving a system of algebraic equations. We compare the Hidden variable resultant and Grobner basis techniques for solving the algebraic equations of our problem. By evaluating them on synthetic and on real-data, we show that the Grobner basis technique provides stable results.Keywords
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