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Register a new userEPOSIT: An Absolute Pose Estimation Method for Pinhole and Fish-Eye Cameras
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Added by
Zhaobing Kang
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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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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We aim to simultaneously estimate the 3D articulated pose and high fidelity volumetric occupancy of human performance, from multiple viewpoint video (MVV) with as few as two views. We use a multi-channel symmetric 3D convolutional encoder-decoder with a dual loss to enforce the learning of a latent embedding that enables inference of skeletal joint positions and a volumetric reconstruction of the performance. The inference is regularised via a prior learned over a dataset of view-ablated multi-view video footage of a wide range of subjects and actions, and show this to generalise well across unseen subjects and actions. We demonstrate improved reconstruction accuracy and lower pose estimation error relative to prior work on two MVV performance capture datasets: Human 3.6M and TotalCapture.
Recovering multi-person 3D poses with absolute scales from a single RGB image is a challenging problem due to the inherent depth and scale ambiguity from a single view. Addressing this ambiguity requires to aggregate various cues over the entire image, such as body sizes, scene layouts, and inter-person relationships. However, most previous methods adopt a top-down scheme that first performs 2D pose detection and then regresses the 3D pose and scale for each detected person individually, ignoring global contextual cues. In this paper, we propose a novel system that first regresses a set of 2.5D representations of body parts and then reconstructs the 3D absolute poses based on these 2.5D representations with a depth-aware part association algorithm. Such a single-shot bottom-up scheme allows the system to better learn and reason about the inter-person depth relationship, improving both 3D and 2D pose estimation. The experiments demonstrate that the proposed approach achieves the state-of-the-art performance on the CMU Panoptic and MuPoTS-3D datasets and is applicable to in-the-wild videos.
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
Line segment detection is essential for high-level tasks in computer vision and robotics. Currently, most stateof-the-art (SOTA) methods are dedicated to detecting straight line segments in undistorted pinhole images, thus distortions on fisheye or spherical images may largely degenerate their performance. Targeting at the unified line segment detection (ULSD) for both distorted and undistorted images, we propose to represent line segments with the Bezier curve model. Then the line segment detection is tackled by the Bezier curve regression with an end-to-end network, which is model-free and without any undistortion preprocessing. Experimental results on the pinhole, fisheye, and spherical image datasets validate the superiority of the proposed ULSD to the SOTA methods both in accuracy and efficiency (40.6fps for pinhole images). The source code is available at https://github.com/lh9171338/Unified-LineSegment-Detection.
Heatmap representations have formed the basis of human pose estimation systems for many years, and their extension to 3D has been a fruitful line of recent research. This includes 2.5D volumetric heatmaps, whose X and Y axes correspond to image space and Z to metric depth around the subject. To obtain metric-scale predictions, 2.5D methods need a separate post-processing step to resolve scale ambiguity. Further, they cannot localize body joints outside the image boundaries, leading to incomplete estimates for truncated images. To address these limitations, we propose metric-scale truncation-robust (MeTRo) volumetric heatmaps, whose dimensions are all defined in metric 3D space, instead of being aligned with image space. This reinterpretation of heatmap dimensions allows us to directly estimate complete, metric-scale poses without test-time knowledge of distance or relying on anthropometric heuristics, such as bone lengths. To further demonstrate the utility our representation, we present a differentiable combination of our 3D metric-scale heatmaps with 2D image-space ones to estimate absolute 3D pose (our MeTRAbs architecture). We find that supervision via absolute pose loss is crucial for accurate non-root-relative localization. Using a ResNet-50 backbone without further learned layers, we obtain state-of-the-art results on Human3.6M, MPI-INF-3DHP and MuPoTS-3D. Our code will be made publicly available to facilitate further research.
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