Real-time solution to the absolute pose problem with unknown radial distortion and focal length

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00212566" target="_blank" >RIV/68407700:21230/13:00212566 - isvavai.cz</a>

Výsledek na webu

<a href="http://cmp.felk.cvut.cz/~kukelova/publications/Kukelova-Bujnak-ICCV-2013.pdf" target="_blank" >http://cmp.felk.cvut.cz/~kukelova/publications/Kukelova-Bujnak-ICCV-2013.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Real-time solution to the absolute pose problem with unknown radial distortion and focal length

Popis výsledku v původním jazyce

The problem of determining the absolute position and orientation of a camera from a set of 2D-to-3D point correspondences is one of the most important problems in computer vision with a broad range of applications. In this paper we present a new solutionto the absolute pose problem for camera with unknown radial distortion and unknown focal length from five 2D-to-3D point correspondences. Our new solver is numerically more stable, more accurate, and significantly faster than the existing state-of-the-art minimal four point absolute pose solvers for this problem. Moreover, our solver results in less solutions and can handle larger radial distortions. The new solver is straightforward and uses only simple concepts from linear algebra. Therefore it is simpler than the state-of-the-art Groebner basis solvers. We compare our new solver with the existing state-of-the art solvers and show its usefulness on synthetic and real datasets.

Název v anglickém jazyce

Real-time solution to the absolute pose problem with unknown radial distortion and focal length

Popis výsledku anglicky

The problem of determining the absolute position and orientation of a camera from a set of 2D-to-3D point correspondences is one of the most important problems in computer vision with a broad range of applications. In this paper we present a new solutionto the absolute pose problem for camera with unknown radial distortion and unknown focal length from five 2D-to-3D point correspondences. Our new solver is numerically more stable, more accurate, and significantly faster than the existing state-of-the-art minimal four point absolute pose solvers for this problem. Moreover, our solver results in less solutions and can handle larger radial distortions. The new solver is straightforward and uses only simple concepts from linear algebra. Therefore it is simpler than the state-of-the-art Groebner basis solvers. We compare our new solver with the existing state-of-the art solvers and show its usefulness on synthetic and real datasets.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/7E13015" target="_blank" >7E13015: Planetary Robotics Data Exploitation</a><br>

Návaznosti

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

Rok uplatnění

2013

Kód důvěrnosti údajů

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

Název statě ve sborníku

2013 IEEE International Conference on Computer Vision (ICCV 2013)

ISBN

978-1-4799-2839-2

ISSN

1550-5499

e-ISSN

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Počet stran výsledku

8

Strana od-do

2816-2823

Název nakladatele

IEEE Computer Society Press

Místo vydání

Los Alamitos

Místo konání akce

Sydney

Datum konání akce

3. 12. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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