Camera Pose Estimation from Lines using Plücker Coordinates

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F15%3APU116932" target="_blank" >RIV/00216305:26230/15:PU116932 - isvavai.cz</a>

Result on the web

<a href="https://dx.doi.org/10.5244/C.29.45" target="_blank" >https://dx.doi.org/10.5244/C.29.45</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5244/C.29.45" target="_blank" >10.5244/C.29.45</a>

Result language

angličtina

Original language name

Camera Pose Estimation from Lines using Plücker Coordinates

Original language description

Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We parameterize 3D lines using Plücker coordinates that allow linear projection of the lines into the image. A line projection matrix is estimated using Linear Least Squares and the camera pose is then extracted from the matrix. An algebraic approach to handle mismatched line correspondences is also included. The proposed algorithm is an order of magnitude faster yet comparably accurate and robust to the state-of-the-art, it does not require initialization, and it yields only one solution. The described method requires at least 9 lines and is particularly suitable for scenarios with 25 and more lines, as also shown in the results. The Matlab code of the proposed method is available for download (http://www.fit.vutbr.cz/~ipribyl/prods.php.en?id=410).

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the British Machine Vision Conference (BMVC 2015)

ISBN

978-1-901725-53-7

ISSN

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e-ISSN

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Number of pages

12

Pages from-to

1-12

Publisher name

The British Machine Vision Association and Society for Pattern Recognition

Place of publication

Swansea

Event location

Swansea

Event date

Sep 7, 2015

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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