Fast Non-minimal Solvers for Planar Motion Compatible Homographies

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Abstract

This paper presents a novel polynomial constraint for homographies compatible with the general planar motion model. In this setting, compatible homographies have five degrees of freedom-instead of the general case of eight degrees of freedom-and, as a consequence, a minimal solver requires 2.5 point correspondences. The existing minimal solver, however, is computationally expensive, and we propose using non-minimal solvers, which significantly reduces the execution time of obtaining a compatible homography, with accuracy and robustness comparable to that of the minimal solver. The proposed solvers are compared with the minimal solver and the traditional 4-point solver on synthetic and real data, and demonstrate good performance, in terms of speed and accuracy. By decomposing the homographies obtained from the different methods, it is shown that the proposed solvers have future potential to be incorporated in a complete Simultaneous Localization and Mapping (SLAM) framework.

Detaljer

Författare
Enheter & grupper
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Datorseende och robotik (autonoma system)

Nyckelord

Originalspråkengelska
Titel på värdpublikationICPRAM 2019 - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods
RedaktörerAna Fred, Maria De Marsico, Gabriella Sanniti di Baja
FörlagSciTePress
Sidor40-51
Antal sidor12
ISBN (elektroniskt)9789897583513
StatusPublished - 2019
PublikationskategoriForskning
Peer review utfördJa
Evenemang8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019 - Prague, Tjeckien
Varaktighet: 2019 feb 192019 feb 21

Konferens

Konferens8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019
LandTjeckien
OrtPrague
Period2019/02/192019/02/21