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
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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/d18ced04-a4a6-432e-a137-893e003081a4
- author
- Haner, Sebastian
LU
and Åström, Kalle
LU
- organization
- publishing date
- 2015-10-14
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
- article number
- 7298749
- pages
- 9 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
- conference location
- Boston, United States
- conference dates
- 2015-06-07 - 2015-06-12
- external identifiers
-
- scopus:84959221102
- ISBN
- 978-1-4673-6964-0
- 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
- 2022-02-06 19:56:46
@inproceedings{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}},
booktitle = {{2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
isbn = {{978-1-4673-6964-0}},
language = {{eng}},
month = {{10}},
pages = {{1428--1436}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Absolute pose for cameras under flat refractive interfaces}},
url = {{http://dx.doi.org/10.1109/CVPR.2015.7298749}},
doi = {{10.1109/CVPR.2015.7298749}},
year = {{2015}},
}