Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00357169" target="_blank" >RIV/68407700:21230/21:00357169 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ICRA48506.2021.9561890" target="_blank" >https://doi.org/10.1109/ICRA48506.2021.9561890</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48506.2021.9561890" target="_blank" >10.1109/ICRA48506.2021.9561890</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

Popis výsledku v původním jazyce

We propose novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first, second and third classes of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the fourth class, the plane is orthogonal to the ground with unknown normal, e.g., it is a building facade. All methods are solved via a linear system with a small coefficient matrix, thus, being extremely efficient. Both the minimal and over-determined cases can be solved by the proposed solvers. They are tested on synthetic data and on publicly available real-world datasets. The novel methods are more accurate or comparable to the traditional algorithms and are faster when included in state-of-the-art robust estimators. The source code is publicly available[1].

Název v anglickém jazyce

Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

Popis výsledku anglicky

We propose novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first, second and third classes of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the fourth class, the plane is orthogonal to the ground with unknown normal, e.g., it is a building facade. All methods are solved via a linear system with a small coefficient matrix, thus, being extremely efficient. Both the minimal and over-determined cases can be solved by the proposed solvers. They are tested on synthetic data and on publicly available real-world datasets. The novel methods are more accurate or comparable to the traditional algorithms and are faster when included in state-of-the-art robust estimators. The source code is publicly available[1].

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/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-9077-8

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

7620-7626

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Xi’an

Datum konání akce

30. 5. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000771405401038