In this paper, it is proposed to solve the problem of triangulation for calibrated omnidirectional cameras through the optimisation of ray-pairs on the projective sphere. The proposed solution boils down to finding the roots of a quadratic function, and as such is closed form, completely non-iterative and computationally inexpensive when compared to previous methods. In addition, even thought the motivation is clearly to solve the triangulation problem for omnidirectional cameras, it is demonstrated that the proposed methods can be applied to non-omnidirectional, narrow field-of-view cameras.

翻译：本文建议通过在投影领域优化射线光谱仪解决校准全向照相机的三角定位问题,拟议解决办法归结为寻找二次函数的根部,因此是封闭形式,与以前的方法相比,完全不具有地形特征,计算成本低。此外,即使认为动机显然是解决全向照相机的三角定位问题,也证明拟议的方法可以适用于非全向、狭窄的视场照相机。