Rolling shutter absolute pose problem with known vertical direction

Kód výsledku v IS VaVaI

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Výsledek na webu

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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 the state 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 structure from motion (SfM) pipelines, it is better to transform already reconstructed scenes into the standard position, rather than using hard constraints on the verticality of up vectors.

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 the state 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 structure from motion (SfM) pipelines, it is better to transform already reconstructed scenes into the standard position, rather than using hard constraints on the verticality of up vectors.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

CVPR 2016: Proceedings of the 2016 IEEE Conference on Computer Vision and Pattern Recognition

ISBN

978-1-4673-8851-1

ISSN

1063-6919

e-ISSN

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Počet stran výsledku

9

Strana od-do

3355-3363

Název nakladatele

IEEE Computer Society Press

Místo vydání

Los Alamitos

Místo konání akce

Las Vegas

Datum konání akce

26. 6. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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