Proceedings PaperCamera pose estimation through two-view calibration
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In this paper the verification condition of the estimated 3D camera pose is discussed. We argue that the usual test is not perfect by using projection and/or back-projection relation between image points and their correspondence in reference frame. Due to input data noise and its impacts on the 2D-3D mapping relation, different combinations of camera intrinsic parameters and extrinsic parameters may represent the same camera pose and all the perspective transformation matrices derived from them meet the demands of the 2D-3D mapping relation constraints well. we call this the compensation of camera intrinsic parameters and extrinsic parameters. It makes the determination of 3D camera pose ambiguous. Two-view calibration should be adopted by using the intrinsic parameter consistency (INPAC) constraints to estimate reliable 3D camera pose. Camera rigid motion constraints are introduced to confirm the 3D camera pose data of two positions besides the usual projection test and back- projection test.