Relative pose estimation for a multi-camera system with known vertical direction

Gim Hee Lee, Marc Pollefeys, Friedrich Fraundorfer

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Abstract

In this paper, we present our minimal 4-point and linear 8-point algorithms to estimate the relative pose of a multi-camera system with known vertical directions, i.e. known absolute roll and pitch angles. We solve the minimal 4-point algorithm with the hidden variable resultant method and show that it leads to an 8-degree univariate polynomial that gives up to 8 real solutions. We identify a degenerated case from the linear 8-point algorithm when it is solved with the standard Singular Value Decomposition (SVD) method and adopt a simple alternative solution which is easy to implement. We show that our proposed algorithms can be efficiently used within RANSAC for robust estimation. We evaluate the accuracy of our proposed algorithms by comparisons with various existing algorithms for the multi-camera system on simulations and show the feasibility of our proposed algorithms with results from multiple real-world datasets.

Original languageEnglish
Title of host publicationProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
PublisherIEEE Computer Society
Pages540-547
Number of pages8
ISBN (Electronic)9781479951178, 9781479951178
DOIs
Publication statusPublished - 24 Sep 2014
EventIEEE Conference on Computer Vision and Pattern Recognition Workshops - Columbus, Ohio, USA, United States
Duration: 23 Jun 201428 Jun 2014

Conference

ConferenceIEEE Conference on Computer Vision and Pattern Recognition Workshops
CountryUnited States
CityColumbus, Ohio, USA
Period23/06/1428/06/14

Fingerprint

Cameras
Singular value decomposition
Polynomials

Keywords

  • Generalized Camera
  • Known Vertical Direction
  • Minimal Problem
  • Multi-Camera System
  • Relative Pose Estimation

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

Cite this

Lee, G. H., Pollefeys, M., & Fraundorfer, F. (2014). Relative pose estimation for a multi-camera system with known vertical direction. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (pp. 540-547). [6909470] IEEE Computer Society. https://doi.org/10.1109/CVPR.2014.76

Relative pose estimation for a multi-camera system with known vertical direction. / Lee, Gim Hee; Pollefeys, Marc; Fraundorfer, Friedrich.

Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society, 2014. p. 540-547 6909470.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Lee, GH, Pollefeys, M & Fraundorfer, F 2014, Relative pose estimation for a multi-camera system with known vertical direction. in Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition., 6909470, IEEE Computer Society, pp. 540-547, IEEE Conference on Computer Vision and Pattern Recognition Workshops, Columbus, Ohio, USA, United States, 23/06/14. https://doi.org/10.1109/CVPR.2014.76
Lee GH, Pollefeys M, Fraundorfer F. Relative pose estimation for a multi-camera system with known vertical direction. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society. 2014. p. 540-547. 6909470 https://doi.org/10.1109/CVPR.2014.76
Lee, Gim Hee ; Pollefeys, Marc ; Fraundorfer, Friedrich. / Relative pose estimation for a multi-camera system with known vertical direction. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society, 2014. pp. 540-547
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