Robust Rotation and Translation Estimation
Popis výsledku
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps. (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares. (ii) Camera translations are estimated using a standard technique based on Second Order Cone Programming. Robustness is achieved by using only a subset of points according to a new criterion that diminishes the risk of chosing a mismatch. It is shown that only four points chosen in a special way are sufficient to represent a pairwise reconstruction almost equally as all points. This leads to a significant speedup. In image sets with repetitive or similar structures, non-existent epipolar geometries may be found. Due to them, some rotations and consequently translations may be estimated incorrectly.
Klíčová slova
factorizationmissing datastructure from motionwide base-line stereo
Identifikátory výsledku
Kód výsledku v IS VaVaI
Výsledek na webu
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DOI - Digital Object Identifier
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Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Robust Rotation and Translation Estimation
Popis výsledku v původním jazyce
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps. (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares. (ii) Camera translations are estimated using a standard technique based on Second Order Cone Programming. Robustness is achieved by using only a subset of points according to a new criterion that diminishes the risk of chosing a mismatch. It is shown that only four points chosen in a special way are sufficient to represent a pairwise reconstruction almost equally as all points. This leads to a significant speedup. In image sets with repetitive or similar structures, non-existent epipolar geometries may be found. Due to them, some rotations and consequently translations may be estimated incorrectly.
Název v anglickém jazyce
Robust Rotation and Translation Estimation
Popis výsledku anglicky
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps. (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares. (ii) Camera translations are estimated using a standard technique based on Second Order Cone Programming. Robustness is achieved by using only a subset of points according to a new criterion that diminishes the risk of chosing a mismatch. It is shown that only four points chosen in a special way are sufficient to represent a pairwise reconstruction almost equally as all points. This leads to a significant speedup. In image sets with repetitive or similar structures, non-existent epipolar geometries may be found. Due to them, some rotations and consequently translations may be estimated incorrectly.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
JD - Využití počítačů, robotika a její aplikace
OECD FORD obor
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Návaznosti výsledku
Projekt
1ET101210406: Automatická konstrukce trojrozměrných virtuálních modelů z fotografií
Návaznosti
Z - Vyzkumny zamer (s odkazem do CEZ)
Ostatní
Rok uplatnění
2007
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
CVPR 2007: Proceedings of the Computer Vision and Pattern Recognition conference
ISBN
1-4244-1180-7
ISSN
1053-587X
e-ISSN
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Počet stran výsledku
8
Strana od-do
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Název nakladatele
IEEE Computer Society
Místo vydání
Los Alamitos
Místo konání akce
Minneapolis
Datum konání akce
18. 6. 2007
Typ akce podle státní příslušnosti
WRD - Celosvětová akce
Kód UT WoS článku
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Základní informace
Druh výsledku
D - Stať ve sborníku
CEP
JD - Využití počítačů, robotika a její aplikace
Rok uplatnění
2007