Absolute Pose Estimation from Line Correspondences using Direct Linear Transformation

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F17%3APU123657" target="_blank" >RIV/00216305:26230/17:PU123657 - isvavai.cz</a>

Result on the web

<a href="https://authors.elsevier.com/a/1VZpp3qy-3EzCm" target="_blank" >https://authors.elsevier.com/a/1VZpp3qy-3EzCm</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.cviu.2017.05.002" target="_blank" >10.1016/j.cviu.2017.05.002</a>

Result language

angličtina

Original language name

Absolute Pose Estimation from Line Correspondences using Direct Linear Transformation

Original language description

This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of PnL. We propose a novel method "DLT-Combined-Lines" based on the Direct Linear Transformation (DLT) algorithm, which benefits from a new combination of two existing DLT methods for pose estimation. The method represents 2D structure by lines, and 3D structure by both points and lines. The redundant 3D information reduces the minimum required line correspondences to 5. A cornerstone of the method is a combined projection matrix estimated by the DLT algorithm. It contains multiple estimates of camera rotation and translation, which can be recovered after enforcing constraints of the matrix. Multiplicity of the estimates is exploited to improve the accuracy of the proposed method. For large line sets (10 and more), the method is comparable to the state-of-theart in accuracy of orientation estimation. It achieves state-of-the-art accuracy in estimation of camera position and it yields the smallest reprojection error under strong image noise. The method achieves top-3 results on real world data. The proposed method is also highly computationally effective, estimating the pose of 1000 lines in 12 ms on a desktop computer. The Matlab code of the proposed method and the supplementary material is available for download (http://www.fit.vutbr.cz/~ipribyl/DLT-based-PnL/).

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

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

<a href="/en/project/LQ1602" target="_blank" >LQ1602: IT4Innovations excellence in science</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2017

Confidentiality

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

Name of the periodical

COMPUTER VISION AND IMAGE UNDERSTANDING

ISSN

1077-3142

e-ISSN

1090-235X

Volume of the periodical

161

Issue of the periodical within the volume

1

Country of publishing house

US - UNITED STATES

Number of pages

15

Pages from-to

130-144

UT code for WoS article

000410718600012

EID of the result in the Scopus database

2-s2.0-85019431048