Are Minimal Radial Distortion Solvers Necessary for Relative Pose Estimation?

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00377191" target="_blank" >RIV/68407700:21230/25:00377191 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/25:00377191

Výsledek na webu

<a href="https://doi.org/10.1007/978-3-031-91569-7_7" target="_blank" >https://doi.org/10.1007/978-3-031-91569-7_7</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-031-91569-7_7" target="_blank" >10.1007/978-3-031-91569-7_7</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Are Minimal Radial Distortion Solvers Necessary for Relative Pose Estimation?

Popis výsledku v původním jazyce

Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient solvers exist for pinhole cameras. Yet, (nearly) all cameras exhibit radial distortion. Not modeling radial distortion leads to (significantly) worse results. However, minimal radial distortion solvers are significantly more complex than pinhole solvers, both in terms of run-time and implementation efforts. This paper compares radial distortion solvers with a simple-to-implement baseline that combines an efficient pinhole solver with sampled radial distortion parameters. Extensive experiments on multiple datasets and RANSAC variants show that this simple baseline performs similarly or better than the most accurate minimal distortion solvers at faster run-times while being significantly more accurate than faster non-minimal solvers. Our results clearly show that complex radial distortion solvers are not necessary in practice. We will make the code and a new benchmark available.

Název v anglickém jazyce

Are Minimal Radial Distortion Solvers Necessary for Relative Pose Estimation?

Popis výsledku anglicky

Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient solvers exist for pinhole cameras. Yet, (nearly) all cameras exhibit radial distortion. Not modeling radial distortion leads to (significantly) worse results. However, minimal radial distortion solvers are significantly more complex than pinhole solvers, both in terms of run-time and implementation efforts. This paper compares radial distortion solvers with a simple-to-implement baseline that combines an efficient pinhole solver with sampled radial distortion parameters. Extensive experiments on multiple datasets and RANSAC variants show that this simple baseline performs similarly or better than the most accurate minimal distortion solvers at faster run-times while being significantly more accurate than faster non-minimal solvers. Our results clearly show that complex radial distortion solvers are not necessary in practice. We will make the code and a new benchmark available.

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

2025

Kód důvěrnosti údajů

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

Název statě ve sborníku

ECCV 2024 Workshops - Half-Century of Structure-from-Motion

ISBN

978-3-031-91568-0

ISSN

0302-9743

e-ISSN

1611-3349

Počet stran výsledku

17

Strana od-do

91-107

Název nakladatele

Springer Nature Switzerland AG

Místo vydání

Cham

Místo konání akce

Milano

Datum konání akce

29. 9. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001544976800007