Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction

Hichem Abdellali, Z. Kato

Research output: Conference contribution

Abstract

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.

Original languageEnglish
Title of host publication2018 International Conference on Digital Image Computing
Subtitle of host publicationTechniques and Applications, DICTA 2018
EditorsMark Pickering, Lihong Zheng, Shaodi You, Ashfaqur Rahman, Manzur Murshed, Md Asikuzzaman, Ambarish Natu, Antonio Robles-Kelly, Manoranjan Paul
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538666029
DOIs
Publication statusPublished - jan. 16 2019
Event2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018 - Canberra, Australia
Duration: dec. 10 2018dec. 13 2018

Publication series

Name2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018

Conference

Conference2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018
CountryAustralia
CityCanberra
Period12/10/1812/13/18

Fingerprint

Cameras
Least-Squares Analysis
Noise
Direction compound

Keywords

    ASJC Scopus subject areas

    • Computer Networks and Communications
    • Computer Science Applications
    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Health Informatics
    • Radiology Nuclear Medicine and imaging

    Cite this

    Abdellali, H., & Kato, Z. (2019). Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction. In M. Pickering, L. Zheng, S. You, A. Rahman, M. Murshed, M. Asikuzzaman, A. Natu, A. Robles-Kelly, ... M. Paul (Eds.), 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018 [8615792] (2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DICTA.2018.8615792

    Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction. / Abdellali, Hichem; Kato, Z.

    2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018. ed. / Mark Pickering; Lihong Zheng; Shaodi You; Ashfaqur Rahman; Manzur Murshed; Md Asikuzzaman; Ambarish Natu; Antonio Robles-Kelly; Manoranjan Paul. Institute of Electrical and Electronics Engineers Inc., 2019. 8615792 (2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018).

    Research output: Conference contribution

    Abdellali, H & Kato, Z 2019, Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction. in M Pickering, L Zheng, S You, A Rahman, M Murshed, M Asikuzzaman, A Natu, A Robles-Kelly & M Paul (eds), 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018., 8615792, 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018, Institute of Electrical and Electronics Engineers Inc., 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018, Canberra, Australia, 12/10/18. https://doi.org/10.1109/DICTA.2018.8615792
    Abdellali H, Kato Z. Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction. In Pickering M, Zheng L, You S, Rahman A, Murshed M, Asikuzzaman M, Natu A, Robles-Kelly A, Paul M, editors, 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8615792. (2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018). https://doi.org/10.1109/DICTA.2018.8615792
    Abdellali, Hichem ; Kato, Z. / Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction. 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018. editor / Mark Pickering ; Lihong Zheng ; Shaodi You ; Ashfaqur Rahman ; Manzur Murshed ; Md Asikuzzaman ; Ambarish Natu ; Antonio Robles-Kelly ; Manoranjan Paul. Institute of Electrical and Electronics Engineers Inc., 2019. (2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018).
    @inproceedings{7b4eecb8c7684641b081fd48ede5f49f,
    title = "Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction",
    abstract = "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.",
    keywords = "Line Correspondence, Multi-View, Pose Estimation",
    author = "Hichem Abdellali and Z. Kato",
    year = "2019",
    month = "1",
    day = "16",
    doi = "10.1109/DICTA.2018.8615792",
    language = "English",
    series = "2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018",
    publisher = "Institute of Electrical and Electronics Engineers Inc.",
    editor = "Mark Pickering and Lihong Zheng and Shaodi You and Ashfaqur Rahman and Manzur Murshed and Md Asikuzzaman and Ambarish Natu and Antonio Robles-Kelly and Manoranjan Paul",
    booktitle = "2018 International Conference on Digital Image Computing",

    }

    TY - GEN

    T1 - Absolute and Relative Pose Estimation of a Multi-View Camera System using 2D-3D Line Pairs and Vertical Direction

    AU - Abdellali, Hichem

    AU - Kato, Z.

    PY - 2019/1/16

    Y1 - 2019/1/16

    N2 - 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.

    AB - 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.

    KW - Line Correspondence

    KW - Multi-View

    KW - Pose Estimation

    UR - http://www.scopus.com/inward/record.url?scp=85062223573&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85062223573&partnerID=8YFLogxK

    U2 - 10.1109/DICTA.2018.8615792

    DO - 10.1109/DICTA.2018.8615792

    M3 - Conference contribution

    T3 - 2018 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2018

    BT - 2018 International Conference on Digital Image Computing

    A2 - Pickering, Mark

    A2 - Zheng, Lihong

    A2 - You, Shaodi

    A2 - Rahman, Ashfaqur

    A2 - Murshed, Manzur

    A2 - Asikuzzaman, Md

    A2 - Natu, Ambarish

    A2 - Robles-Kelly, Antonio

    A2 - Paul, Manoranjan

    PB - Institute of Electrical and Electronics Engineers Inc.

    ER -