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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