Rolling shutter absolute pose problem with known vertical direction

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235952" target="_blank" >RIV/68407700:21230/15:00235952 - isvavai.cz</a>

Výsledek na webu

<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/albl/Albl-TR-2015-10.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/albl/Albl-TR-2015-10.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Rolling shutter absolute pose problem with known vertical direction

Popis výsledku v původním jazyce

We present a solution to the rolling shutter (RS) absolute camera pose problem with known vertical direction. Our new solver, R5Pup, is an extension of the general minimal solution R6P, which uses a double linearized RS camera model initialized by the standard perspective P3P. Here, thanks to using known vertical directions, we avoid double linearization and can get the camera absolute pose directly from the RS model without the initialization by a standard P3P. Moreover, we need only five 2D-to-3D matches while R6P needed six such matches. We demonstrate in simulated and real experiments that our new R5Pup is robust, fast and a very practical method for absolute camera pose computation for modern cameras on mobile devices. We compare our R5Pup to thestate of the art RS and perspective methods and demonstrate that it outperforms them when vertical direction is known in the range of accuracy available on modern mobile devices. We also demonstrate that when using R5Pup solver in structu

Název v anglickém jazyce

Rolling shutter absolute pose problem with known vertical direction

Popis výsledku anglicky

We present a solution to the rolling shutter (RS) absolute camera pose problem with known vertical direction. Our new solver, R5Pup, is an extension of the general minimal solution R6P, which uses a double linearized RS camera model initialized by the standard perspective P3P. Here, thanks to using known vertical directions, we avoid double linearization and can get the camera absolute pose directly from the RS model without the initialization by a standard P3P. Moreover, we need only five 2D-to-3D matches while R6P needed six such matches. We demonstrate in simulated and real experiments that our new R5Pup is robust, fast and a very practical method for absolute camera pose computation for modern cameras on mobile devices. We compare our R5Pup to thestate of the art RS and perspective methods and demonstrate that it outperforms them when vertical direction is known in the range of accuracy available on modern mobile devices. We also demonstrate that when using R5Pup solver in structu

Druh

V_souhrn - Souhrnná výzkumná zpráva

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)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Počet stran výsledku

21

Místo vydání

Praha

Název nakladatele resp. objednatele

ČVUT FEL, Katedra kybernetiky - Centrum strojového vnímání

Verze

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