Unambiguous Pose Determination from at Least 4 Points

Long QUAN

CNRS-GRAVIR-INRIA
ZIRST -- 655 avenue de l'Europe
38330 Montbonnot
France
email: Long.Quan@imag.fr
phone: +33 4 76 61 52 29

• Introduction
• The 3 point pose determination revisited
  • Pre-processing of data
  • The 3-point algebraic solutions
  • Resolving the ambiguity
  • Absolute orientation
• The linear 4-point algorithm
  • Coplanar configurations
• The linear 5 and n-point algorithms
• Outline of the linear algorithms
• The 4th degree polynomial
• References
• About this document ...