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Register a new userA Novel Method for the Absolute Pose Problem with Pairwise Constraints
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Xuechen Li
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed dimensionality d and the number of measurements N, a robust estimation problem cannot be solved faster than O(N^d). Furthermore, it is almost impossible to remove d from the exponent of the runtime of a globally optimal algorithm. However, absolute pose estimation is a geometric parameter estimation problem, and thus has special constraints. In this paper, we consider pairwise constraints and propose a globally optimal algorithm for solving the absolute pose estimation problem. The proposed algorithm has a linear complexity in the number of correspondences at a given outlier ratio. Concretely, we first decouple the rotation and the translation subproblems by utilizing the pairwise constraints, and then we solve the rotation subproblem using the branch-and-bound algorithm. Lastly, we estimate the translation based on the known rotation by using another branch-and-bound algorithm. The advantages of our method are demonstrated via thorough testing on both synthetic and real-world data
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This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in the world coordinate system are employed in our method, and it has a unique solution. The application scope of POSIT (Pose from Orthography and Scaling with Iteration) algorithm is generalized to fish-eye cameras by combining with the radially symmetric projection model. The image point relationship between the pinhole camera and the fish-eye camera is derived based on their projection model. The general pose expression which fits for different cameras can be acquired by four noncoplanar object points and their corresponding image points. Accurate estimation results are calculated iteratively. Experimental results on synthetic and real data show that the pose estimation results of our method are more stable and accurate than state-of-the-art methods. The source code is available at https://github.com/k032131/EPOSIT.
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