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Fast and efficient minimal solvers for quadric based camera pose estimation

Gummeson, Anna LU ; Engman, Johanna LU ; Astrom, Kalle LU orcid and Oskarsson, Magnus LU orcid (2022) 26th International Conference on Pattern Recognition, ICPR 2022 p.3973-3979
Abstract

In this paper we address absolute camera pose estimation. An efficient (and standard) way to solve this problem, is to use sparse keypoint correspondences. In many cases point features are not available, or are unstable over time and viewing conditions. We propose a framework based on silhouettes of quadric surfaces, with special emphasis on cylinders. We provide mathematical analysis of the problem of projected cylinders in particular, but also general quadrics. We develop a number of minimal solvers for estimating camera pose from silhouette lines of cylinders, given different calibration and cylinder properties. These solvers can be used efficiently in bootstrapping robust estimation schemes, such as RANSAC. Note that even though we... (More)

In this paper we address absolute camera pose estimation. An efficient (and standard) way to solve this problem, is to use sparse keypoint correspondences. In many cases point features are not available, or are unstable over time and viewing conditions. We propose a framework based on silhouettes of quadric surfaces, with special emphasis on cylinders. We provide mathematical analysis of the problem of projected cylinders in particular, but also general quadrics. We develop a number of minimal solvers for estimating camera pose from silhouette lines of cylinders, given different calibration and cylinder properties. These solvers can be used efficiently in bootstrapping robust estimation schemes, such as RANSAC. Note that even though we have lines as image features, this is a different case than line based pose estimation, since we do not have 2D-line to 3D-line correspondences. We perform synthetic accuracy and robustness tests and evaluate on a number of real case scenarios.

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author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2022 26th International Conference on Pattern Recognition, ICPR 2022
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
26th International Conference on Pattern Recognition, ICPR 2022
conference location
Montreal, Canada
conference dates
2022-08-21 - 2022-08-25
external identifiers
  • scopus:85143639380
ISBN
9781665490627
DOI
10.1109/ICPR56361.2022.9956135
language
English
LU publication?
yes
id
42121ffc-994e-4870-acff-3e1cc2121bb9
date added to LUP
2022-12-23 12:01:48
date last changed
2023-11-19 13:38:54
@inproceedings{42121ffc-994e-4870-acff-3e1cc2121bb9,
  abstract     = {{<p>In this paper we address absolute camera pose estimation. An efficient (and standard) way to solve this problem, is to use sparse keypoint correspondences. In many cases point features are not available, or are unstable over time and viewing conditions. We propose a framework based on silhouettes of quadric surfaces, with special emphasis on cylinders. We provide mathematical analysis of the problem of projected cylinders in particular, but also general quadrics. We develop a number of minimal solvers for estimating camera pose from silhouette lines of cylinders, given different calibration and cylinder properties. These solvers can be used efficiently in bootstrapping robust estimation schemes, such as RANSAC. Note that even though we have lines as image features, this is a different case than line based pose estimation, since we do not have 2D-line to 3D-line correspondences. We perform synthetic accuracy and robustness tests and evaluate on a number of real case scenarios.</p>}},
  author       = {{Gummeson, Anna and Engman, Johanna and Astrom, Kalle and Oskarsson, Magnus}},
  booktitle    = {{2022 26th International Conference on Pattern Recognition, ICPR 2022}},
  isbn         = {{9781665490627}},
  language     = {{eng}},
  pages        = {{3973--3979}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Fast and efficient minimal solvers for quadric based camera pose estimation}},
  url          = {{http://dx.doi.org/10.1109/ICPR56361.2022.9956135}},
  doi          = {{10.1109/ICPR56361.2022.9956135}},
  year         = {{2022}},
}