Minimal Solutions for Relative Pose with a Single Affine Correspondence

Banglei Guan, Ji Zhao*, Zhang Li, Fang Sun, Friedrich Fraundorfer

*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the planar motion assumption or with knowledge of a vertical direction, a single affine correspondence is sufficient to recover the relative camera pose. The four cases considered are two-view planar relative motion for calibrated cameras as a closed-form and a least-squares solution, a closed-form solution for unknown focal length and the case of a known vertical direction. These algorithms can be used efficiently for outlier detection within a RANSAC loop and for initial motion estimation. All the methods are evaluated on both synthetic data and real-world datasets from the KITTI benchmark. The experimental results demonstrate that our methods outperform comparable state-of-the-art methods in accuracy with the benefit of a reduced number of needed RANSAC iterations
Originalspracheenglisch
Titel2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Herausgeber (Verlag)IEEE Publications
Seiten1926-1935
Seitenumfang10
ISBN (elektronisch)978-1-7281-7168-5
DOIs
PublikationsstatusVeröffentlicht - 15 Juni 2020
Veranstaltung2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition: CVPR 2020 - virtuell, Virtual, USA / Vereinigte Staaten
Dauer: 14 Juni 202019 Juni 2020

Publikationsreihe

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Konferenz

Konferenz2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition
KurztitelCVPR 2020
Land/GebietUSA / Vereinigte Staaten
OrtVirtual
Zeitraum14/06/2019/06/20

ASJC Scopus subject areas

  • Software
  • Maschinelles Sehen und Mustererkennung

Fields of Expertise

  • Information, Communication & Computing

Fingerprint

Untersuchen Sie die Forschungsthemen von „Minimal Solutions for Relative Pose with a Single Affine Correspondence“. Zusammen bilden sie einen einzigartigen Fingerprint.

Dieses zitieren