Polarimetric relative pose estimation
(2019) 2019 IEEE/CVF International Conference on Computer Vision (ICCV) p.2671-2680- Abstract
- In this paper we consider the problem of relative pose estimation from two images with per-pixel polarimetric information. Using these additional measurements we derive a simple minimal solver for the essential matrix which only requires two point correspondences. The polarization constraints allow us to pointwise recover the 3D surface normal up to a two-fold ambiguity for the diffuse reflection. Since this ambiguity exists per point, there is a combinatorial explosion of possibilities. However, since our solver only requires two point correspondences, we only need to consider 16 configurations when solving for the relative pose. Once the relative orientation is recovered, we show that it is trivial to resolve the ambiguity for the... (More)
- In this paper we consider the problem of relative pose estimation from two images with per-pixel polarimetric information. Using these additional measurements we derive a simple minimal solver for the essential matrix which only requires two point correspondences. The polarization constraints allow us to pointwise recover the 3D surface normal up to a two-fold ambiguity for the diffuse reflection. Since this ambiguity exists per point, there is a combinatorial explosion of possibilities. However, since our solver only requires two point correspondences, we only need to consider 16 configurations when solving for the relative pose. Once the relative orientation is recovered, we show that it is trivial to resolve the ambiguity for the remaining points. For robustness, we also propose a joint optimization between the relative pose and the refractive index to handle the refractive distortion. In experiments, on both synthetic and real data, we demonstrate that by leveraging the additional information available from polarization cameras, we can improve over classical methods which only rely on the 2D-point locations to estimate the geometry. Finally, we demonstrate the practical applicability of our approach by integrating it into a state-of-the-art global Structure-from-Motion pipeline. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/865748e5-6264-4378-9ffb-938b81ce810c
- author
- Cui, Zhaopeng ; Larsson, Viktor LU and Pollefeys, Marc
- publishing date
- 2019
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2019 IEEE/CVF International Conference on Computer Vision (ICCV)
- pages
- 10 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2019 IEEE/CVF International Conference on Computer Vision (ICCV)
- conference location
- Seoul, Korea, Republic of
- conference dates
- 2019-10-27 - 2019-11-02
- external identifiers
-
- scopus:85081925767
- DOI
- 10.1109/ICCV.2019.00276
- language
- English
- LU publication?
- no
- id
- 865748e5-6264-4378-9ffb-938b81ce810c
- date added to LUP
- 2022-09-06 11:44:27
- date last changed
- 2022-09-23 18:27:37
@inproceedings{865748e5-6264-4378-9ffb-938b81ce810c,
abstract = {{In this paper we consider the problem of relative pose estimation from two images with per-pixel polarimetric information. Using these additional measurements we derive a simple minimal solver for the essential matrix which only requires two point correspondences. The polarization constraints allow us to pointwise recover the 3D surface normal up to a two-fold ambiguity for the diffuse reflection. Since this ambiguity exists per point, there is a combinatorial explosion of possibilities. However, since our solver only requires two point correspondences, we only need to consider 16 configurations when solving for the relative pose. Once the relative orientation is recovered, we show that it is trivial to resolve the ambiguity for the remaining points. For robustness, we also propose a joint optimization between the relative pose and the refractive index to handle the refractive distortion. In experiments, on both synthetic and real data, we demonstrate that by leveraging the additional information available from polarization cameras, we can improve over classical methods which only rely on the 2D-point locations to estimate the geometry. Finally, we demonstrate the practical applicability of our approach by integrating it into a state-of-the-art global Structure-from-Motion pipeline.}},
author = {{Cui, Zhaopeng and Larsson, Viktor and Pollefeys, Marc}},
booktitle = {{2019 IEEE/CVF International Conference on Computer Vision (ICCV)}},
language = {{eng}},
pages = {{2671--2680}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Polarimetric relative pose estimation}},
url = {{http://dx.doi.org/10.1109/ICCV.2019.00276}},
doi = {{10.1109/ICCV.2019.00276}},
year = {{2019}},
}