Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction
| Autor: | Zoltan Kato, Hichem Abdellali |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Computer science
020206 networking & telecommunications 02 engineering and technology Solver Least squares Set (abstract data type) Line (geometry) Vertical direction 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Degree (angle) Noise (video) Algorithm Pose |
| Zdroj: | DICTA |
| DOI: | 10.1109/dicta.2018.8615792 |
| Popis: | We propose a new algorithm for estimating the absolute and relative pose of a multi-view camera system. The algorithm relies on two solvers: a direct solver using a minimal set of 6 line pairs and a least squares solver which uses all inlier 2D-3D line pairs. The algorithm have been validated on a large synthetic dataset, experimental results confirm the stable and real-time performance under realistic noise on the line parameters as well as on the vertical direction. Furthermore, the algorithm performs well on real data with less then half degree rotation error and less than 25 cm translation error. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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