Trifocal Relative Pose From Lines at Points

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00361847" target="_blank" >RIV/68407700:21730/23:00361847 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/TPAMI.2022.3226165" target="_blank" >https://doi.org/10.1109/TPAMI.2022.3226165</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TPAMI.2022.3226165" target="_blank" >10.1109/TPAMI.2022.3226165</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trifocal Relative Pose From Lines at Points

Popis výsledku v původním jazyce

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of ( i ) three points and one line and the novel case of ( ii ) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Gröbner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing HC methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that ( i ) SIFT feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and ( ii ) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails.

Název v anglickém jazyce

Trifocal Relative Pose From Lines at Points

Popis výsledku anglicky

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of ( i ) three points and one line and the novel case of ( ii ) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Gröbner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing HC methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that ( i ) SIFT feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and ( ii ) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Inteligentní strojové vnímání</a><br>

Návaznosti

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

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Pattern Analysis and Machine Intelligence

ISSN

0162-8828

e-ISSN

1939-3539

Svazek periodika

45

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

15

Strana od-do

7870-7884

Kód UT WoS článku

000982475600083

EID výsledku v databázi Scopus

2-s2.0-85144038314