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2255973b0f
Added SQPnP algorithm to SolvePnP * Added sqpnp * Fixed test case * Added fix for duplicate point checking and inverse func reuse * Changes for 3x speedup Changed norm method (significant speed increase), changed nearest rotation computation to FOAM * Added symmetric 3x3 inverse and unrolled loops * Fixed error with SVD * Fixed error from with indices Indices were initialized negative. When nullspace is large, points coplanar, and rotation near 0, indices not changed.
50 lines
1.5 KiB
BibTeX
50 lines
1.5 KiB
BibTeX
@article{lepetit2009epnp,
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title={Epnp: An accurate o (n) solution to the pnp problem},
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author={Lepetit, Vincent and Moreno-Noguer, Francesc and Fua, Pascal},
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journal={International journal of computer vision},
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volume={81},
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number={2},
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pages={155--166},
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year={2009},
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publisher={Springer}
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}
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@article{gao2003complete,
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title={Complete solution classification for the perspective-three-point problem},
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author={Gao, Xiao-Shan and Hou, Xiao-Rong and Tang, Jianliang and Cheng, Hang-Fei},
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journal={Pattern Analysis and Machine Intelligence, IEEE Transactions on},
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volume={25},
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number={8},
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pages={930--943},
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year={2003},
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publisher={IEEE}
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}
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@inproceedings{hesch2011direct,
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title={A direct least-squares (DLS) method for PnP},
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author={Hesch, Joel and Roumeliotis, Stergios and others},
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booktitle={Computer Vision (ICCV), 2011 IEEE International Conference on},
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pages={383--390},
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year={2011},
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organization={IEEE}
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}
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@article{penate2013exhaustive,
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title={Exhaustive linearization for robust camera pose and focal length estimation},
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author={Penate-Sanchez, Adrian and Andrade-Cetto, Juan and Moreno-Noguer, Francesc},
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journal={Pattern Analysis and Machine Intelligence, IEEE Transactions on},
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volume={35},
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number={10},
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pages={2387--2400},
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year={2013},
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publisher={IEEE}
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}
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@inproceedings{Terzakis20,
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author = {Terzakis, George and Lourakis, Manolis},
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year = {2020},
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month = {09},
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pages = {},
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title = {A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem}
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}
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