Rolling shutter absolute pose problem with known vertical direction
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235952" target="_blank" >RIV/68407700:21230/15:00235952 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/albl/Albl-TR-2015-10.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/albl/Albl-TR-2015-10.pdf</a>
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Rolling shutter absolute pose problem with known vertical direction
Original language description
We present a solution to the rolling shutter (RS) absolute camera pose problem with known vertical direction. Our new solver, R5Pup, is an extension of the general minimal solution R6P, which uses a double linearized RS camera model initialized by the standard perspective P3P. Here, thanks to using known vertical directions, we avoid double linearization and can get the camera absolute pose directly from the RS model without the initialization by a standard P3P. Moreover, we need only five 2D-to-3D matches while R6P needed six such matches. We demonstrate in simulated and real experiments that our new R5Pup is robust, fast and a very practical method for absolute camera pose computation for modern cameras on mobile devices. We compare our R5Pup to thestate of the art RS and perspective methods and demonstrate that it outperforms them when vertical direction is known in the range of accuracy available on modern mobile devices. We also demonstrate that when using R5Pup solver in structu
Czech name
—
Czech description
—
Classification
Type
V<sub>souhrn</sub> - Summary research report
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/7E13015" target="_blank" >7E13015: Planetary Robotics Data Exploitation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Number of pages
21
Place of publication
Praha
Publisher/client name
ČVUT FEL, Katedra kybernetiky - Centrum strojového vnímání
Version
—