Camera Pose Estimation from Bounding Boxes

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00380082" target="_blank" >RIV/68407700:21230/24:00380082 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/24:00380082

Result on the web

<a href="https://doi.org/10.1109/IROS58592.2024.10801546" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10801546</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10801546" target="_blank" >10.1109/IROS58592.2024.10801546</a>

Result language

angličtina

Original language name

Camera Pose Estimation from Bounding Boxes

Original language description

Visual localization is an important part of many interesting applications, including robotics. The dominant localization strategy is to estimate the camera pose from 2D-3D matches between 2D pixel positions and 3D points. Yet, such approaches can be quite memory intensive and can lead to privacy risks. An interesting alternative to point-based matches is to use higher-level primitives for pose estimation. Consequently, this work investigates using correspondences between 2D and 3D bounding boxes for camera pose estimation. The resulting scene representation is compact and poses fewer privacy risks. In this setting, there are typically orders of magnitude fewer matches available compared to classical feature-based methods. In addition, the available correspondences are significantly more noisy. We investigate multiple strategies based on converting bounding box correspondences to point correspondences and propose a novel and simple 2-point camera absolute pose solver (DP2P) that exploits the fact that the depths of the objects can be approximated from the sizes of their bounding boxes.

Czech name

—

Czech description

—

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)

Project

<a href="/en/project/GM22-23183M" target="_blank" >GM22-23183M: New generation of camera geometry solvers</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

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

Article name in the collection

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

ISBN

979-8-3503-7770-5

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

8

Pages from-to

5535-5542

Publisher name

IEEE

Place of publication

Piscataway

Event location

Abu Dhabi

Event date

Oct 14, 2024

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001411890000558