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An Efficient Closed Form Solution to the Absolute Orientation Problem for Camera with Unknown Focal Length.

Kai Guo1, Hu Ye1, Zinian Zhao1

  • 1Northwest Institute of Nuclear Technology, Xi'an 710024, China.

Sensors (Basel, Switzerland)
|October 13, 2021
PubMed
Summary

This study presents a new method for camera pose estimation using 2D-3D points and camera position. It efficiently solves for unknown focal length and absolute orientation, improving stability and speed.

Keywords:
absolute orientationangle constraintcamera positionperspective-three-pointsingle solutionunknown focal length

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Area of Science:

  • Computer Vision
  • Robotics
  • Geometric Modeling

Background:

  • Camera pose estimation is crucial for many applications.
  • Existing methods like Perspective-3-Point (P3P) can suffer from multiple solutions and sensitivity to noise.
  • Determining absolute orientation with unknown focal length remains a challenge.

Purpose of the Study:

  • To propose an efficient closed-form solution for the absolute orientation problem.
  • To address camera pose estimation with unknown focal length using 2D-3D point correspondences and known camera position.
  • To develop a method that is numerically stable, robust to noise, and computationally efficient.

Main Methods:

  • Decomposition of the absolute orientation problem into two sub-problems.
  • Solving for unknown focal length using angle constraints and a polynomial equation.
  • Employing a geometric approach for determining absolute orientation.
  • Rewriting the camera model to incorporate known camera position for simplification.

Main Results:

  • A single, unambiguous solution for absolute orientation is achieved.
  • The method demonstrates improved numerical stability and noise sensitivity compared to existing solvers.
  • Significant improvements in computational speed were observed.
  • Successful validation using both synthetic data and real-world images.

Conclusions:

  • The proposed method offers an efficient and robust solution for camera absolute orientation with unknown focal length.
  • It overcomes limitations of traditional P3P solvers by providing a unique solution.
  • The geometric approach enhances understanding and performance, making it suitable for real-time applications.