Absolute Pose from One or Two Scaled and Oriented Features

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00380114" target="_blank" >RIV/68407700:21230/24:00380114 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/24:00380114

Výsledek na webu

<a href="https://doi.org/10.1109/CVPR52733.2024.01972" target="_blank" >https://doi.org/10.1109/CVPR52733.2024.01972</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CVPR52733.2024.01972" target="_blank" >10.1109/CVPR52733.2024.01972</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Absolute Pose from One or Two Scaled and Oriented Features

Popis výsledku v původním jazyce

Keypoints used for image matching often include an estimate of the feature scale and orientation. While recent work has demonstrated the advantages of using feature scales and orientations for relative pose estimation, relatively little work has considered their use for absolute pose estimation. We introduce minimal solutions for absolute pose from two oriented feature correspondences in the general case, or one scaled and oriented correspondence given a known vertical direction. Nowadays, assuming a known direction is not particularly restrictive as modern consumer devices, such as smartphones or drones, are equipped with Inertial Measurement Units (IMU) that provide the gravity direction by default. Compared to traditional absolute pose methods requiring three point correspondences, our solvers need a smaller minimal sample, reducing the cost and complexity of robust estimation. Evaluations on large-scale and public real datasets demonstrate the advantage of our methods for fast and accurate localization in challenging conditions. Code is available at https://github.com/danini/absolute-pose-from-oriented-and-sealed-features.

Název v anglickém jazyce

Absolute Pose from One or Two Scaled and Oriented Features

Popis výsledku anglicky

Keypoints used for image matching often include an estimate of the feature scale and orientation. While recent work has demonstrated the advantages of using feature scales and orientations for relative pose estimation, relatively little work has considered their use for absolute pose estimation. We introduce minimal solutions for absolute pose from two oriented feature correspondences in the general case, or one scaled and oriented correspondence given a known vertical direction. Nowadays, assuming a known direction is not particularly restrictive as modern consumer devices, such as smartphones or drones, are equipped with Inertial Measurement Units (IMU) that provide the gravity direction by default. Compared to traditional absolute pose methods requiring three point correspondences, our solvers need a smaller minimal sample, reducing the cost and complexity of robust estimation. Evaluations on large-scale and public real datasets demonstrate the advantage of our methods for fast and accurate localization in challenging conditions. Code is available at https://github.com/danini/absolute-pose-from-oriented-and-sealed-features.

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/GM22-23183M" target="_blank" >GM22-23183M: Nová generace algoritmů pro řešení problémů geometrie kamer</a><br>

Návaznosti

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

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název statě ve sborníku

2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

ISBN

979-8-3503-5300-6

ISSN

1063-6919

e-ISSN

2575-7075

Počet stran výsledku

11

Strana od-do

20870-20880

Název nakladatele

IEEE Computer Society

Místo vydání

Los Alamitos

Místo konání akce

Seattle

Datum konání akce

16. 6. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001342515504022