Robust absolute and relative pose estimation of a central camera system from 2D-3D line correspondences

Hichem Abdellali, Robert Frohlich, Zoltan Kato

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages895-904
Number of pages10
ISBN (Electronic)9781728150239
DOIs
Publication statusPublished - Oct 2019
Event17th IEEE/CVF International Conference on Computer Vision Workshop, ICCVW 2019 - Seoul, Korea, Republic of
Duration: Oct 27 2019Oct 28 2019

Publication series

NameProceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019

Conference

Conference17th IEEE/CVF International Conference on Computer Vision Workshop, ICCVW 2019
CountryKorea, Republic of
CitySeoul
Period10/27/1910/28/19

Keywords

  • Central camera
  • Line correspondences
  • Pose

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition

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  • Cite this

    Abdellali, H., Frohlich, R., & Kato, Z. (2019). Robust absolute and relative pose estimation of a central camera system from 2D-3D line correspondences. In Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019 (pp. 895-904). [9022390] (Proceedings - 2019 International Conference on Computer Vision Workshop, ICCVW 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCVW.2019.00118