Generalized pose estimation from line correspondences with known vertical direction

Nora Horanyi, Z. Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a novel method to compute the absolute pose of a generalized camera based on straight lines, which are common in urban environment. The only assumption about the imaging model is that 3D straight lines are projected via projection planes determined by the line and camera projection directions, i.e. correspondences are given as a 3D world line and its projection plane. Since modern cameras are frequently equipped with various location and orientation sensors, we assume that the vertical direction (e.g. a gravity vector) is available. Therefore we formulate the problem in terms of 4 unknowns using 3D line-projection plane correspondences which yields a closed form solution. The solution can be used as a minimal solver as well as a least squares solver without reformulation. The proposed algorithm have been evaluated on various synthetic datasets as well as on real data. Experimental results confirm state of the art performance both in terms of quality and computing time.

Original languageEnglish
Title of host publicationProceedings - 2017 International Conference on 3D Vision, 3DV 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages244-253
Number of pages10
ISBN (Electronic)9781538626108
DOIs
Publication statusPublished - May 25 2018
Event7th IEEE International Conference on 3D Vision, 3DV 2017 - Qingdao, China
Duration: Oct 10 2017Oct 12 2017

Other

Other7th IEEE International Conference on 3D Vision, 3DV 2017
CountryChina
CityQingdao
Period10/10/1710/12/17

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Keywords

  • Line-correspondences
  • pose-estimation
  • Vertical-direction

ASJC Scopus subject areas

  • Media Technology
  • Computer Vision and Pattern Recognition
  • Signal Processing

Cite this

Horanyi, N., & Kato, Z. (2018). Generalized pose estimation from line correspondences with known vertical direction. In Proceedings - 2017 International Conference on 3D Vision, 3DV 2017 (pp. 244-253). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/3DV.2017.00036