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Six-Point Method for Multi-camera Systems with Reduced Solution Space

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Computer Vision – ECCV 2024 (ECCV 2024)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 15113))

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Abstract

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to compute the 6DOF relative pose of multi-camera systems, including a minimal solver for the generalized camera and two minimal solvers for the practical configuration of two-camera rigs. The equation construction is based on the decoupling of rotation and translation. Rotation is represented by Cayley or quaternion parametrization, and translation can be eliminated by using the hidden variable technique. Ray bundle constraints are found and proven when a subset of PCs relate the same cameras across two views. This is the key to reducing the number of solutions and generating numerically stable solvers. Moreover, all configurations of six-point problems for multi-camera systems are enumerated. Extensive experiments demonstrate the superior accuracy and efficiency of our solvers compared to state-of-the-art six-point methods. The code is available at https://github.com/jizhaox/relpose-6pt.

J. Zhao—Independent Researcher.

B. Guan and J. Zhao—Equal contribution.

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Acknowledgments

This research has been supported in part by the Hunan Provincial Natural Science Foundation for Excellent Young Scholars under Grant 2023JJ20045, and the National Natural Science Foundation of China under Grant 12372189. Further funding support is provided by project 62250610225 by the Natural Science Foundation of China, as well as projects 22DZ1201900, 22ZR1441300, and dfycbj-1 by the Natural Science Foundation of Shanghai. J. Zhao would like to thank Saibal Mitra, from the Netherlands, for the valuable discussions on graph enumeration.

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Authors and Affiliations

  1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China

    Banglei Guan

  2. Beijing, China

    Ji Zhao

  3. Mobile Perception Lab, ShanghaiTech University, Shanghai, China

    Laurent Kneip

Authors
  1. Banglei Guan
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  2. Ji Zhao
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  3. Laurent Kneip
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Corresponding author

Correspondence to Ji Zhao .

Editor information

Editors and Affiliations

  1. University of Birmingham, Birmingham, UK

    Aleš Leonardis

  2. University of Trento, Trento, Italy

    Elisa Ricci

  3. Technical University of Darmstadt, Darmstadt, Hessen, Germany

    Stefan Roth

  4. Princeton University, Palo Alto, CA, USA

    Olga Russakovsky

  5. Czech Technical University in Prague, Prague, Czech Republic

    Torsten Sattler

  6. École des Ponts ParisTech, Marne-la-Vallée, France

    Gül Varol

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Guan, B., Zhao, J., Kneip, L. (2025). Six-Point Method for Multi-camera Systems with Reduced Solution Space. In: Leonardis, A., Ricci, E., Roth, S., Russakovsky, O., Sattler, T., Varol, G. (eds) Computer Vision – ECCV 2024. ECCV 2024. Lecture Notes in Computer Science, vol 15113. Springer, Cham. https://doi.org/10.1007/978-3-031-73001-6_7

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  • DOI: https://doi.org/10.1007/978-3-031-73001-6_7

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