A Critical Review of the Trifocal Tensor Estimation

Laura F Julià (1, 2, 3) , Pascal Monasse (1, 2, 3)

1 LIGM - Laboratoire d'Informatique Gaspard-Monge
2 ENPC - École des Ponts ParisTech
3 imagine [Marne-la-Vallée]

We explore the advantages offered by the trifocal tensor in the pose estimation of a triplet of cameras as opposed to computing the relative poses pair by pair with the fundamental matrix. Theoretically, the trinilearities characterize uniquely three corresponding image points in a tighter way than the three epipolar equations and this translates in an increasing accuracy. However, we show that this initial improvement is not enough to have a remarkable impact on the pose estimation after bundle adjustment, and the use of the fundamental matrix with image triplets remains relevant.

Mots clés: Trifocal tensor; Fundamental matrix; Pose estimation

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Laura F Julià, Pascal Monasse. A Critical Review of the Trifocal Tensor Estimation. PSIVT'17, The Eighth Pacific-Rim Symposium on Image and Video Technology, Nov 2017, Wuhan, China. ⟨10.1007/978-3-319-75786-5_28⟩. ⟨hal-01700686⟩