Robust Absolute and Relative Pose Estimation of a Central Camera System from 2D-3D Line Correspondences
| Autor: | Robert Frohlich, Zoltan Kato, Hichem Abdellali |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Computer science
business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 020207 software engineering 02 engineering and technology Solver RANSAC 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.2019.00118 |
| Popis: | We propose a new algorithm for estimating the absolute and relative pose of a camera system composed of general central projection cameras such as perspective and omnidirectional cameras. First, we derive a minimal solver for the minimal case of 3 line pairs per camera, which is used within a RANSAC algorithm for outlier filtering. Second, we also formulate a direct least squares solver which finds an optimal solution in case of noisy (but inlier) 2D-3D line pairs. Both solver relies on Grobner basis, hence they provide an accurate solution within a few milliseconds in Matlab. 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: |
|