Minimal problems in Computer Vision

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» P4P + unknown focal length

» P4P + focal + radial distortion

» uP2P + known vertical direction

» uP3P + focal + radial distortion

» P2P1L problem

» P1P2L problem

» 5-pt relative pose problem

» 6-pt focal length problem

» 6-pt calibrated-uncalibrated

» 4-pt 3-views relative pose problem

» 2-pt panorama stitching (1 focal)

» 3-pt panorama stitching (2 focals)

» 3-pt panorama stitching (1 focal+ radial distortion)

» 6-pt generalized camera problem

» 6-pt calibrated radial distortion

» 8-pt uncalibrated radial distortion

» 9-pt different distortion problem

» P2Π registration problem

» 3-view triangulation

» 9-pt catadioptric

» Automatic generator

» Grobener basis solver

6-pt generalized relative pose problem

Problem:

Estimating relative pose of two generalized cameras from six image point correspondences.

6-pt generalized relative pose problem

Publications:

M. Byröd, K. Josephson, and K. Åström. Improving numerical accuracy of Gröbner basis polynomial equation solver. ICCV 2007. [pdf | http]
H. Stewenius, D. Nister, M. Oskarsson, and K. Aström. Solutions to minimal generalized relative pose problems. OMNIVIS 2005. [pdf | code]

Code:

Stewenius' Groebner basis solver [2] (Matlab+C) [link]
Greobner basis solver generated using Automatic generator (Matlab) [source code]
Greobner basis solver generated using Automatic generator (C) [source code]

Evaluation:

Tomas Pajdla, Zuzana Kukelova, Martin Bujnak. Maintained by Zuzana Kukelova, 28 January 2011