Making Minimal Solvers for Absolute Pose Estimation Compact and Robust

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00317556" target="_blank" >RIV/68407700:21230/17:00317556 - isvavai.cz</a>

Výsledek na webu

<a href="http://openaccess.thecvf.com/content_ICCV_2017/papers/Larsson_Making_Minimal_Solvers_ICCV_2017_paper.pdf" target="_blank" >http://openaccess.thecvf.com/content_ICCV_2017/papers/Larsson_Making_Minimal_Solvers_ICCV_2017_paper.pdf</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICCV.2017.254" target="_blank" >10.1109/ICCV.2017.254</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Making Minimal Solvers for Absolute Pose Estimation Compact and Robust

Popis výsledku v původním jazyce

In this paper we present new techniques for constructing compact and robust minimal solvers for absolute pose estimation. We focus on the P4Pfr problem, but the methods we propose are applicable to a more general setting. Previous approaches to P4Pfr suffer from artificial degeneracies which come from their formulation and not the geometry of the original problem. In this paper we show how to avoid these false degeneracies to create more robust solvers. Combined with recently published techniques for Grobner basis solvers we are also able to construct solvers which are significantly smaller. We evaluate our solvers on both real and synthetic data, and show improved performance compared to competing solvers. Finally we show that our techniques can be directly applied to the P3.5Pf problem to get a non-degenerate solver, which is competitive with the current state-of-the-art

Název v anglickém jazyce

Making Minimal Solvers for Absolute Pose Estimation Compact and Robust

Popis výsledku anglicky

In this paper we present new techniques for constructing compact and robust minimal solvers for absolute pose estimation. We focus on the P4Pfr problem, but the methods we propose are applicable to a more general setting. Previous approaches to P4Pfr suffer from artificial degeneracies which come from their formulation and not the geometry of the original problem. In this paper we show how to avoid these false degeneracies to create more robust solvers. Combined with recently published techniques for Grobner basis solvers we are also able to construct solvers which are significantly smaller. We evaluate our solvers on both real and synthetic data, and show improved performance compared to competing solvers. Finally we show that our techniques can be directly applied to the P3.5Pf problem to get a non-degenerate solver, which is competitive with the current state-of-the-art

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

<a href="/cs/project/GBP103%2F12%2FG084" target="_blank" >GBP103/12/G084: Centrum pro multi-modální interpretaci dat velkého rozsahu</a><br>

Návaznosti

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

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

2017 IEEE International Conference on Computer Vision (ICCV 2017)

ISBN

978-1-5386-1032-9

ISSN

1550-5499

e-ISSN

—

Počet stran výsledku

9

Strana od-do

2335-2343

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Venice

Datum konání akce

22. 10. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000425498402042