Partially calibrated semi-generalized pose from hybrid point correspondences
Bhayani, Snehal; Sattler, Torsten; Larsson, Viktor; Heikkilä, Janne; Kukelova, Zuzana (2023-02-06)
S. Bhayani, T. Sattler, V. Larsson, J. Heikkilä and Z. Kukelova, "Partially calibrated semi-generalized pose from hybrid point correspondences," 2023 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, HI, USA, 2023, pp. 2881-2890, doi: 10.1109/WACV56688.2023.00290
© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
https://rightsstatements.org/vocab/InC/1.0/
https://urn.fi/URN:NBN:fi-fe2023031331343
Tiivistelmä
Abstract
We study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on state-of-the-art methods for generating efficient polynomial solvers. We evaluate the three most promising solvers, i.e., the H51f solver with five 2D-2D correspondences and one 2D-3D match viewed by the same camera inside the generalized camera, the H32f solver with three 2D-2D and two 2D-3D correspondences, and the H13f solver with one 2D-2D and three 2D-3D matches, on synthetic and real data. We show that in the presence of noise in the 3D points these solvers provide better estimates than the corresponding absolute pose solvers.
Kokoelmat
- Avoin saatavuus [37205]