Abstract

This paper considers and solves the problem of estimating camera pose given a pair of point-tangent correspondences between the 3D scene and the projected image. The problem arises when considering curve geometry as the ba- sis of forming correspondences, computation of structure and calibration, which in its simplest form is a point augmented with the curve tangent. We show that while the standard resectioning problem is solved with a minimum of three points given the intrinsic parameters, when points are augmented with tangent informa- tion only two points are required, leading to substantial computational savings, e.g., when used as a minimal engine within RAN SAC . In addition, computational algorithms are developed to find a practical and efficient solution shown to effec- tively recover camera pose using both synthetic and realistic datasets. The reso- lution of this problem is intended as a basic building block of future curve-based structure from motion systems, allowing new views to be incrementally registered to a core set of views for which relative pose has already been computed.