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Absolute pose for cameras under flat refractive interfaces

Haner, Sebastian LU and Åström, Kalle LU (2015) IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015 In 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) p.1428-1436
Abstract

This paper studies the problem of determining the absolute pose of a perspective camera observing a scene through a known refractive plane, the flat boundary between transparent media with different refractive indices. Efficient minimal solvers are developed for the 2D, known orientation and known rotation axis cases, and near-minimal solvers for the general calibrated and unknown focal length cases. We show that ambiguities in the equations of Snell's law give rise to a large number of false solutions, increasing the complexity of the problem. Evaluation of the solvers on both synthetic and real data show excellent numerical performance, and the necessity of explicitly modelling refraction to obtain accurate pose estimates.

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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
pages
9 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
external identifiers
  • Scopus:84959221102
DOI
10.1109/CVPR.2015.7298749
language
English
LU publication?
yes
id
d18ced04-a4a6-432e-a137-893e003081a4
date added to LUP
2016-04-12 10:43:36
date last changed
2016-10-23 04:42:07
@misc{d18ced04-a4a6-432e-a137-893e003081a4,
  abstract     = {<p>This paper studies the problem of determining the absolute pose of a perspective camera observing a scene through a known refractive plane, the flat boundary between transparent media with different refractive indices. Efficient minimal solvers are developed for the 2D, known orientation and known rotation axis cases, and near-minimal solvers for the general calibrated and unknown focal length cases. We show that ambiguities in the equations of Snell's law give rise to a large number of false solutions, increasing the complexity of the problem. Evaluation of the solvers on both synthetic and real data show excellent numerical performance, and the necessity of explicitly modelling refraction to obtain accurate pose estimates.</p>},
  author       = {Haner, Sebastian and Åström, Kalle},
  language     = {eng},
  month        = {10},
  pages        = {1428--1436},
  publisher    = {ARRAY(0x886e558)},
  series       = {2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  title        = {Absolute pose for cameras under flat refractive interfaces},
  url          = {http://dx.doi.org/10.1109/CVPR.2015.7298749},
  year         = {2015},
}