Fast and efficient minimal solvers for quadric based camera pose estimation

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

Abstract

In this paper we address absolute camera pose estimation. An efficient (and standard) way to solve this problem, is to use sparse keypoint correspondences. In many cases point features are not available, or are unstable over time and viewing conditions. We propose a framework based on silhouettes of quadric surfaces, with special emphasis on cylinders. We provide mathematical analysis of the problem of projected cylinders in particular, but also general quadrics. We develop a number of minimal solvers for estimating camera pose from silhouette lines of cylinders, given different calibration and cylinder properties. These solvers can be used efficiently in bootstrapping robust estimation schemes, such as RANSAC. Note that even though we have lines as image features, this is a different case than line based pose estimation, since we do not have 2D-line to 3D-line correspondences. We perform synthetic accuracy and robustness tests and evaluate on a number of real case scenarios.

Original languageEnglish
Title of host publication2022 26th International Conference on Pattern Recognition, ICPR 2022
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages3973-3979
Number of pages7
ISBN (Electronic)9781665490627
DOIs
Publication statusPublished - 2022
Event26th International Conference on Pattern Recognition, ICPR 2022 - Montreal, Canada
Duration: 2022 Aug 212022 Aug 25

Conference

Conference26th International Conference on Pattern Recognition, ICPR 2022
Country/TerritoryCanada
CityMontreal
Period2022/08/212022/08/25

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)

Fingerprint

Dive into the research topics of 'Fast and efficient minimal solvers for quadric based camera pose estimation'. Together they form a unique fingerprint.

Cite this