Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00357169" target="_blank" >RIV/68407700:21230/21:00357169 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA48506.2021.9561890" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9561890</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9561890" target="_blank" >10.1109/ICRA48506.2021.9561890</a>
Alternative languages
Result language
angličtina
Original language name
Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes
Original language description
We propose novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first, second and third classes of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the fourth class, the plane is orthogonal to the ground with unknown normal, e.g., it is a building facade. All methods are solved via a linear system with a small coefficient matrix, thus, being extremely efficient. Both the minimal and over-determined cases can be solved by the proposed solvers. They are tested on synthetic data and on publicly available real-world datasets. The novel methods are more accurate or comparable to the traditional algorithms and are faster when included in state-of-the-art robust estimators. The source code is publicly available[1].
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-9077-8
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
7620-7626
Publisher name
IEEE Xplore
Place of publication
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Event location
Xi’an
Event date
May 30, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000771405401038