Solving the Rotation-Estimation Problem by Using the Perspective Three-Point Algorithm
Abstract
We present a closed-form solution for the rotation-estimation problem, by introducing the same algorithm used for solving the perspective three-point problem. The rotation-estimation problem is defined as estimating the relative rotation of two camera images when the translation is known. The perspective three-point problem, in which the pose of a single camera is estimated from the location of three points, is a classical problem in the field of computer vision, and a closed-form solution for it has already been established. The two problems are not obviously similar, but we show by making some parameter exchanges that they are essentially equivalent. Actual applications using the rotation-estimation problem are also explained.
Cite
Text
Moriya and Takeda. "Solving the Rotation-Estimation Problem by Using the Perspective Three-Point Algorithm." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000. doi:10.1109/CVPR.2000.855898Markdown
[Moriya and Takeda. "Solving the Rotation-Estimation Problem by Using the Perspective Three-Point Algorithm." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000.](https://mlanthology.org/cvpr/2000/moriya2000cvpr-solving/) doi:10.1109/CVPR.2000.855898BibTeX
@inproceedings{moriya2000cvpr-solving,
title = {{Solving the Rotation-Estimation Problem by Using the Perspective Three-Point Algorithm}},
author = {Moriya, Toshio and Takeda, Haruo},
booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year = {2000},
pages = {1766-1773},
doi = {10.1109/CVPR.2000.855898},
url = {https://mlanthology.org/cvpr/2000/moriya2000cvpr-solving/}
}