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Fast Optimal Three View Triangulation

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Author

Summary, in English

We consider the problem of L2-optimal triangulation from three separate views. Triangulation is an important part of numerous computer vision systems. Under gaussian noise, minimizing the L2 norm of the reprojection error gives a statistically optimal estimate. This has been solved for two views. However, for three or more views, it is not clear how this should be done. A previously proposed, but computationally impractical, method draws on Gröbner basis techniques to solve for the complete set of stationary points of the cost function. We show how this method can be modified to become significantly more stable and hence given a fast implementation in standard IEEE double precision. We evaluate the precision and speed of the new method on both synthetic and real data. The algorithm has been implemented in a freely available software package which can be downloaded from the Internet.

Department/s

Publishing year

2008

Language

English

Pages

95-98

Document type

Conference paper

Topic

  • Mathematics
  • Computer Vision and Robotics (Autonomous Systems)

Conference name

Swedish Symposium on Image Analysis (SSBA) 2008

Conference date

2008-03-13 - 2008-03-14

Conference place

Lund, Sweden

Status

Published

Research group

  • Mathematical Imaging Group