A Metric Parametrization for Trifocal Tensors With Non-Colinear Pinholes

Spyridon Leonardos, Roberto Tron, Kostas Daniilidis; The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015, pp. 259-267

Abstract


The trifocal tensor, which describes the relation between projections of points and lines in three views, is a fundamental entity of geometric computer vision. In this work, we investigate a new parametrization of the trifocal tensor for calibrated cameras with non-colinear pinholes obtained from a quotient Riemannian manifold. We incorporate this formulation into state-of-the art methods for optimization on manifolds, and show, through experiments in pose averaging, that it produces a meaningful way to measure distances between trifocal tensors.

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[bibtex]
@InProceedings{Leonardos_2015_CVPR,
author = {Leonardos, Spyridon and Tron, Roberto and Daniilidis, Kostas},
title = {A Metric Parametrization for Trifocal Tensors With Non-Colinear Pinholes},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2015}
}