Camera Pose Estimation from Lines using Plücker Coordinates

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F15%3APU116932" target="_blank" >RIV/00216305:26230/15:PU116932 - isvavai.cz</a>

Výsledek na webu

<a href="https://dx.doi.org/10.5244/C.29.45" target="_blank" >https://dx.doi.org/10.5244/C.29.45</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5244/C.29.45" target="_blank" >10.5244/C.29.45</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Camera Pose Estimation from Lines using Plücker Coordinates

Popis výsledku v původním jazyce

Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We parameterize 3D lines using Plücker coordinates that allow linear projection of the lines into the image. A line projection matrix is estimated using Linear Least Squares and the camera pose is then extracted from the matrix. An algebraic approach to handle mismatched line correspondences is also included. The proposed algorithm is an order of magnitude faster yet comparably accurate and robust to the state-of-the-art, it does not require initialization, and it yields only one solution. The described method requires at least 9 lines and is particularly suitable for scenarios with 25 and more lines, as also shown in the results. The Matlab code of the proposed method is available for download (http://www.fit.vutbr.cz/~ipribyl/prods.php.en?id=410).

Název v anglickém jazyce

Camera Pose Estimation from Lines using Plücker Coordinates

Popis výsledku anglicky

Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We parameterize 3D lines using Plücker coordinates that allow linear projection of the lines into the image. A line projection matrix is estimated using Linear Least Squares and the camera pose is then extracted from the matrix. An algebraic approach to handle mismatched line correspondences is also included. The proposed algorithm is an order of magnitude faster yet comparably accurate and robust to the state-of-the-art, it does not require initialization, and it yields only one solution. The described method requires at least 9 lines and is particularly suitable for scenarios with 25 and more lines, as also shown in the results. The Matlab code of the proposed method is available for download (http://www.fit.vutbr.cz/~ipribyl/prods.php.en?id=410).

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the British Machine Vision Conference (BMVC 2015)

ISBN

978-1-901725-53-7

ISSN

—

e-ISSN

—

Počet stran výsledku

12

Strana od-do

1-12

Název nakladatele

The British Machine Vision Association and Society for Pattern Recognition

Místo vydání

Swansea

Místo konání akce

Swansea

Datum konání akce

7. 9. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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