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A Critical Review of the Trifocal Tensor Estimation

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Résumé

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.
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Dates et versions

hal-01700686 , version 1 (05-02-2018)

Identifiants

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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⟩
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