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Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver [chapter]

Mikael Persson, Klas Nordberg
2018 Lecture Notes in Computer Science  
We present Lambda Twist; a novel P3P solver which is accurate, fast and robust.  ...  Instead of solving a quartic, the proposed P3P solver exploits the underlying elliptic equations which can be solved by a fast and numerically accurate diagonalization.  ...  This concludes the Lambda Twist P3P algorithm, summarized in Algorithms 1 and 2.  ... 
doi:10.1007/978-3-030-01225-0_20 fatcat:yjoxgdxh5vcsvczetzjbhmyhsm

Sensors and Sensor Fusion Methodologies for Indoor Odometry: A Review

Mengshen Yang, Xu Sun, Fuhua Jia, Adam Rushworth, Xin Dong, Sheng Zhang, Zaojun Fang, Guilin Yang, Bingjian Liu
2022 Polymers  
The former focuses on incremental localization, while the latter stores an interpretable map of the environment concurrently.  ...  The first complete analytical solution to the P3P problem was given in [198] . An improved triangulation based method Lambda Twist P3P was proposed in [199] . Ref.  ...  This review paper extends previous works from three perspectives: firstly, the operating principles and advancements of sensors for odometry, including polymer-based sensors; secondly, a briefing on odometry  ... 
doi:10.3390/polym14102019 pmid:35631899 pmcid:PMC9143447 fatcat:nx4abgwuizbubgc376fxtpcqla

Averaging Essential and Fundamental Matrices in Collinear Camera Settings [article]

Amnon Geifman, Yoni Kasten, Meirav Galun, Ronen Basri
2020 arXiv   pre-print
In this paper, we introduce an analysis and algorithms for averaging bifocal tensors (essential or fundamental matrices) when either subsets or all of the camera centers are collinear.  ...  Complete solution classification for the perspective-three-point problem. Mikael Persson and Klas Nordberg. Lambda twist: an accurate fast robust perspective three point (p3p) solver.  ...  Let X ∈ R 3 be a 3D point seen by the three cameras. We aim to construct bifocal tensors relating the virtual camera centered at X with the three real cameras P 1 , P 2 and P 3 .  ... 
arXiv:1912.00254v3 fatcat:j7yle62q3fhh7e2vcf2iw25lj4