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Questions tagged [camera-pose]

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Homography valid for patch within the image but not the entire image?

The homography I have is non-degenerate (det!=0), and generated from a valid planar pose. When I use it to warp the four corners of image, it returns something like the following: ...
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1 answer
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How does transformation matrix and camera matrix change when indexing pixels from -1 to 1 instead of 0 to N-1

I'm trying to warp frames for view synthesis. Specifically, given a frame1 and poses of frame1 and frame2, I'm trying to warp frame1 to frame2's pose/view. For this, I'm indexing pixel locations as $[...
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1 answer
102 views

Find camera pose by knowing triangle coordinates

I have this concrete problem where I know the 3 coordinates of a triangle $ABC$ in a $xyz$ frame reference and I need to estimate the position $P$ and direction $\vec{n_{p}}$ of a stationary camera ...
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1 answer
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Math for projecting 3d world point to VR image coordinates

Suppose, I've a 3d world point $P$ and I want to project it onto the image plane of camera, I can do it as follows $$M = \begin{bmatrix} R & t \\ 0 & 1 \\ \end{bmatrix}$$ $$p = K \cdot M \cdot ...
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Intuition about tag pose estimation accuracy

I have some difficulties to have a correct intuition about expected pose accuracy when dealing with planar pose estimation (e.g. pose estimation from AprilTag detection) and perspective camera model. ...
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184 views

Camera Pose Estimation from Vanishing Points

I want to estimate the pose of camera (Location and Orientation). Can I use Vanishing Points to get the location and orientation of the camera? There is object in the image which I also know his size,...
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1 answer
201 views

Why reprojection error is minimized instead of triangulation error for bundle adjustment?

For bundle adjustment optmization why is reprojection error minimized instead of traingulation error or ray-to-3d point error? Disadvantage with reprojection error is: for perspective camera, its ...
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1 vote
0 answers
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Virtual camera from panorama

I'm trying to virtualize a camera from a panorama. That is, suppose I have a really big picture, for example: a soccer field. Then I want to simulate a camera that focuses on certain regions of the ...
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38 views

Bundle adjustment optimization parameters

While reading the Wikipedia article on Bundle adjustment, I came across the following objective function used to represent the bundle adjustment problem. I have two questions regarding this objective ...
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3 answers
616 views

Camera Calibration - why do you have to move the calibration board?

I understand the mathematical derivation of Zhang's Method for camera calibration but what I don't understand is why we need to move and rotate the calibration board for several frames in order to get ...
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1 vote
1 answer
455 views

Camera and laser scanner calibration final approach questions

A while ago I posted this question about camera and laser scanner calibration. I've been away from this project for a while and now I need to come back and get a final approach to calibrate properly ...
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Pinhole camera model from houdini parameters

From a simulation with Houdini software I retrieved these parameters: Camera position: -0.675839, 33.5945, 0.0318854 Camera Rotation: 0.0318854, 92.4693, 0.1 Focal Length: 52.5172 mm Image size: 1920 ...
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Extrinsic Camera Parameters without introducing control points?

I am new to the field of Camera Calibration. We have successfully calibrated our camera through classic method (using checkerboard etc). I recently realized there is a field of research for Automatic ...
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Which pattern (circle pattern or checkerboard pattern) should be used for automotive camera calibration (fisheye/wide webcam)?

Calibrating a Fish-eye camera / webcam with large angle mounted on car by using opencv 3 One important issue is to define the calibration pattern and its position !!!! The affects error that paly an ...
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4 votes
1 answer
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How are the scaling parameters included (extracted from) an essential matrix?

An essential matrix relates corresponding points between two images assuming that a camera satisfies the pinhole camera model, and can be expressed as: $$E=K'^TFK$$ where K is the calibration and F ...
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-1 votes
2 answers
930 views

Calibration (intrinsic) parameters of a virtual camera with some known information

I need the calibration matrix of my simulated camera, I am trying to fully comprehend and follow the steps from Step by Step Camera Pose Estimation for Visual Tracking and Planar Markers as well as ...
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4 votes
1 answer
2k views

Obtain motion between image features by means of the homography matrix

I have been reading several really good answers about how to obtain camera pose (rotation, translation, etc), such as this one and this one, but I am not sure how this applies to my problem. My ...
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1 vote
0 answers
262 views

In which way do image transformations change camera extrinsics?

Given a pinhole camera model, we have an image and according camera intrinsics K and extrinsic parameters R. When we scale the ...
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1 answer
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Camera calibration vs. registration

Suppose I have two cameras, c1 and c2 that are securely installed and do not move. What I want is a matrix T, that takes a pixel of an image from camera c1 and calculates the according pixel in an ...
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1 vote
1 answer
350 views

Does accurate translation estimation using a camera matrix mean the orientation estimation will also be accurate?

Pose Estimation of single camera and planar pattern: If I have an appropriate camera matrix with intrinsic parameters that allows me to calculate translation of the camera relative to a chessboard, ...
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2 votes
3 answers
271 views

Can you average out focal length from different camera calibration sessions?

If I perform a number of camera calibration routines at a fixed resolution, with various sizes of calibration patterns (like checkerboards), at various distances and get various values for focal ...
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2 votes
1 answer
5k views

Ground plane estimation from a single image (was: confusion about homography and calibration camera parameters)

I'm new to this multiple view geometry issues and I'm a little bit lost, and some concept are not clear at all. I have a calibrated camera ( = I have distortion coefficents, field of view, and with ...
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6 votes
2 answers
1k views

Estimating Plane Pose Without Knowledge of Intrinsic Camera Parameters

Assume a camera has no skew, and has square pixels, that is, its camera-calibration matrix, $K$, looks like: $$ K = \left[\begin{matrix} \alpha&0&u_x\\0&\alpha&u_y\\0&0&1 \end{...
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  • 61
24 votes
2 answers
23k views

How does resizing an image affect the intrinsic camera matrix?

I have a camera matrix (I know both intrinsic and extrinsic parameters) known for image of size HxW. (I use this matrix for some calculations I need). I want to use a smaller image, say: $\frac{H}{2}\...
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5 votes
1 answer
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Pose from Homography matrix - Zhang method

This post also contributes to the post at Step by Step Camera Pose Estimation for Visual Tracking and Planar Markers by Jav_Rock (since I cannot add any comment there and I don't know why) It can be ...
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24 votes
2 answers
51k views

Step by Step Camera Pose Estimation for Visual Tracking and Planar Markers

I have been working on the topic of camera pose estimation for augmented reality and visual tracking applications for a while and I think that although there is a lot of detailed information on the ...
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2 votes
3 answers
532 views

pose estimation

I am doing a final year project which involves finding the position and orientation of a screw which has to be opened by a robot hand having a screw driver as an end effector. I have developed a ...
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