Fast and efficient minimal solvers for quadric based camera pose estimation
(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
- Gummeson, Anna LU ; Engman, Johanna LU ; Astrom, Kalle LU and Oskarsson, Magnus LU
- organization
- publishing date
- 2022
- 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}}, }