{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/resultant-based-incremental-recovery-of","title":"Resultant Based Incremental Recovery of Camera Pose from Pairwise Matches","arxiv_id":"1901.09364","date":"2019-01-27","proceeding":null,"authors":["Yoni Kasten","Meirav Galun","Ronen Basri"],"abstract":"Incremental (online) structure from motion pipelines seek to recover the\ncamera matrix associated with an image $I_n$ given $n-1$ images,\n$I_1,...,I_{n-1}$, whose camera matrices have already been recovered. In this\npaper, we introduce a novel solution to the six-point online algorithm to\nrecover the exterior parameters associated with $I_n$. Our algorithm uses just\nsix corresponding pairs of 2D points, extracted each from $I_n$ and from\n\\textit{any} of the preceding $n-1$ images, allowing the recovery of the full\nsix degrees of freedom of the $n$'th camera, and unlike common methods, does\nnot require tracking feature points in three or more images. Our novel solution\nis based on constructing a Dixon resultant, yielding a solution method that is\nboth efficient and accurate compared to existing solutions. We further use\nBernstein's theorem to prove a tight bound on the number of complex solutions.\nOur experiments demonstrate the utility of our approach.","url_abs":"http://arxiv.org/abs/1901.09364v1","url_pdf":"http://arxiv.org/pdf/1901.09364v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"resultant-based-incremental-recovery-of","repo_url":"https://github.com/ykasten/resultantCamPose","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1901.09364","atlas_url":"https://app.syntology.ai/?focus=1901.09364","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}