A Direct Least-Squares Solution to Multi-View Absolute and Relative Pose from 2D-3D Perspective Line Pairs
| Autor: | Hichem Abdellali, Zoltan Kato, Robert Frohlich |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
business.industry
Computer science 020206 networking & telecommunications 02 engineering and technology Solver Simultaneous localization and mapping Least squares Gröbner basis Robustness (computer science) Outlier 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Artificial intelligence business Pose Algorithm |
| Zdroj: | ICCV Workshops |
| DOI: | 10.1109/iccvw.2019.00267 |
| Popis: | We propose a new algorithm for estimating the absolute and relative pose of a multi-view camera system. We derive a direct least squares solver using Grobner basis which works both for the minimal case (set of 3 line pairs for each camera) and the general case using all inlier 2D-3D line pairs for a multi-view camera system. The algorithm has been validated on a large synthetic dataset as well as real data. Experimental results confirm the stable and real-time performance under realistic outlier ratio and noise on the line parameters. Comparative tests show that our method compares favorably to the latest state of the art algorithms. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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