Range from Triangulation Using an Inverse Perspective Method to Determine Relative Camera Pose

摘要

The document describes a technique to obtain three-dimensional range from two arbitrarily-placed, stationary cameras. The method uses an inverse perspective algorithm to determine the position of each of the cameras with respect to a set of four coplanar points. Using the two transformations obtained, the relationship between the two cameras is determined. Subsequently, the range to a corresponding feature point that appears in both of the camera images can be calculated using triangulation.