Minimal solutions for pose estimation of a multi-camera system

Gim Hee Lee, Bo Li, Marc Pollefeys, Friedrich Fraundorfer

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

In this paper, we propose a novel formulation to solve the pose estimation problem of a calibrated multi-camera system. The non-central rays that pass through the 3D world points and multi-camera system are elegantly represented as Plücker lines. This allows us to solve for the depth of the points along the Plücker lines with a minimal set of 3-point correspondences. We show that the minimal solution for the depth of the points along the Plücker lines is an 8 degree polynomial that gives up to 8 real solutions. The coordinates of the 3D world points in the multi-camera frame are computed from the known depths. Consequently, the pose of the multi-camera system, i.e. the rigid transformation between the world and multi-camera frames can be obtained from absolute orientation. We also derive a closed-form minimal solution for the absolute orientation. This removes the need for the computationally expensive Singular Value Decompositions (SVD) during the evaluations of the possible solutions for the depths. We identify the correct solution and do robust estimation with RANSAC. Finally, the solution is further refined by including all the inlier correspondences in a non-linear refinement step. We verify our approach by showing comparisons with other existing approaches and results from large-scale real-world datasets.

Originalspracheenglisch
TitelSpringer Tracts in Advanced Robotics
Herausgeber (Verlag)Springer Verlag
Seiten521-538
Seitenumfang18
Band114
ISBN (Print)9783319288703
DOIs
PublikationsstatusVeröffentlicht - 2016
Veranstaltung16th International Symposium of Robotics Research, ISRR 2013 - Singapore, Singapur
Dauer: 16 Dez 201319 Dez 2013

Publikationsreihe

NameSpringer Tracts in Advanced Robotics
Band114
ISSN (Print)16107438
ISSN (elektronisch)1610742X

Konferenz

Konferenz16th International Symposium of Robotics Research, ISRR 2013
LandSingapur
OrtSingapore
Zeitraum16/12/1319/12/13

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ASJC Scopus subject areas

  • !!Electrical and Electronic Engineering
  • Artificial intelligence

Dieses zitieren

Hee Lee, G., Li, B., Pollefeys, M., & Fraundorfer, F. (2016). Minimal solutions for pose estimation of a multi-camera system. in Springer Tracts in Advanced Robotics (Band 114, S. 521-538). (Springer Tracts in Advanced Robotics; Band 114). Springer Verlag. https://doi.org/10.1007/978-3-319-28872-7_30