Closed-Form Optimal Two-View Triangulation Based on Angular Errors
Abstract
In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose. By formulating the triangulation problem as L-1 and L-infinity minimization of angular reprojection errors, we derive the exact closed-form solutions that guarantee global optimality under respective cost functions. To the best of our knowledge, we are the first to present such solutions. Since the angular error is rotationally invariant, our solutions can be applied for any type of central cameras, be it perspective, fisheye or omnidirectional. Our methods also require significantly less computation than the existing optimal methods. Experimental results on synthetic and real datasets validate our theoretical derivations.
Cite
Text
Lee and Civera. "Closed-Form Optimal Two-View Triangulation Based on Angular Errors." Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019. doi:10.1109/ICCV.2019.00277Markdown
[Lee and Civera. "Closed-Form Optimal Two-View Triangulation Based on Angular Errors." Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.](https://mlanthology.org/iccv/2019/lee2019iccv-closedform/) doi:10.1109/ICCV.2019.00277BibTeX
@inproceedings{lee2019iccv-closedform,
title = {{Closed-Form Optimal Two-View Triangulation Based on Angular Errors}},
author = {Lee, Seong Hun and Civera, Javier},
booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision},
year = {2019},
doi = {10.1109/ICCV.2019.00277},
url = {https://mlanthology.org/iccv/2019/lee2019iccv-closedform/}
}