Robust Rotation and Translation Estimation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F07%3A03135318" target="_blank" >RIV/68407700:21230/07:03135318 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Robust Rotation and Translation Estimation
Original language description
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps. (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares. (ii) Camera translations are estimated using a standard technique based on Second Order Cone Programming. Robustness is achieved by using only a subset of points according to a new criterion that diminishes the risk of chosing a mismatch. It is shown that only four points chosen in a special way are sufficient to represent a pairwise reconstruction almost equally as all points. This leads to a significant speedup. In image sets with repetitive or similar structures, non-existent epipolar geometries may be found. Due to them, some rotations and consequently translations may be estimated incorrectly.
Czech name
Robust Rotation and Translation Estimation
Czech description
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps. (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares. (ii) Camera translations are estimated using a standard technique based on Second Order Cone Programming. Robustness is achieved by using only a subset of points according to a new criterion that diminishes the risk of chosing a mismatch. It is shown that only four points chosen in a special way are sufficient to represent a pairwise reconstruction almost equally as all points. This leads to a significant speedup. In image sets with repetitive or similar structures, non-existent epipolar geometries may be found. Due to them, some rotations and consequently translations may be estimated incorrectly.
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/1ET101210406" target="_blank" >1ET101210406: Automatic 3D Virtual Model Builder from Photographs</a><br>
Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2007
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
CVPR 2007: Proceedings of the Computer Vision and Pattern Recognition conference
ISBN
1-4244-1180-7
ISSN
1053-587X
e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
IEEE Computer Society
Place of publication
Los Alamitos
Event location
Minneapolis
Event date
Jun 18, 2007
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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