A consistently fast and accurate algorithm for estimating camera pose from point correspondences

Yu, Qida; Xu, Guili; Zhang, Limao; Shi, Jiachen

doi:10.1016/j.measurement.2020.108914

Cited by 10 publications

(9 citation statements)

References 31 publications

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“…Note that, the sign ambiguity inherent in quaternions should be handled carefully. Therefore, in more recent works [9,15], the Cayley-Gibbs-Rodriguez (CGR) parameterization is adopted instead and a more compact derivation is proposed. Similarly, the GB method is employed to solve the cubic polynomial equation system.…”

Section: Introductionmentioning

confidence: 99%

“…Similarly, the GB method is employed to solve the cubic polynomial equation system. In order to avoid singularity, an accurate initial pose should be acquired [9], or a fixed pre-rotation should be applied [15].…”

Section: Introductionmentioning

confidence: 99%

“…By relaxing the scale constrains, the degree of the objective function is reduced and all stationary points can be found by eigenvalue decomposition. Subsequent research showed that sometimes only sub-optimal solutions could be determined using DLS, resulting in less accurate poses [9,15]. In [21], another iterative algorithm was proposed to solve the minimization problem.…”

Section: Introductionmentioning

confidence: 99%

“…the distribution of the reference points can be described by the column rank γ and the condition number κ of P. Following the similar examples in[8,9,15,21], three configurations with different γ and κ values are used in the simulations:1.…”

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confidence: 99%

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An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry

2022

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Planetary rovers play a critical role in space exploration missions, where one of the most fundamental algorithms is pose determination. Due to environmental and computational constraints, real-time pose determinations of planetary rovers can only use low-cost techniques, such as visual odometry. In this paper, by employing the angle-based criterion, a novel pose determination algorithm is proposed for visual odometry, which is suitable for any type of central camera. First, the problem is formulated using the Huber kernel function with respect to the angular residuals. Then, an intermediate coordinate system is introduced between the initial estimation and final refinement. In order to avoid being trapped in periodic local minimums, a linear method is used to further align the reference points between the intermediate and camera coordinate systems. Finally, one step refinement is implemented to optimize pose determinations. The theoretical analysis, the synthetic simulations, and the real experiments show that our proposed algorithm can achieve the best accuracies within similar processing times, compared with the most state-of-the-art algorithms, thereby approving the effectiveness of the proposed algorithm used in planetary rover onboard visual odometry.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry

2022

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“…The perspective-n-point (PnP) problem [1][2][3][4][5][6][7] originates from the intrinsic and extrinsic parameter estimation, which are two of key steps in computer vision [8,9] and photogrammetry [10]. Its purpose is to retrieve the intrinsic or extrinsic parameters of a camera by using n known 2D-3D point correspondences from a single image.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Intrinsic and Extrinsic Parameters Estimation by Solving Perspective-Three-Point Problem with Known Camera Position

Guo

et al. 2021

Applied Sciences

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The aim of the perspective-three-point (P3P) problem is to estimate extrinsic parameters of a camera from three 2D–3D point correspondences, including the orientation and position information. All the P3P solvers have a multi-solution phenomenon that is up to four solutions and needs a fully calibrated camera. In contrast, in this paper we propose a novel method for intrinsic and extrinsic parameter estimation based on three 2D–3D point correspondences with known camera position. Our core contribution is to build a new, virtual camera system whose frame and image plane are defined by the original 3D points, to build a new, intermediate world frame by the original image plane and the original 2D image points, and convert our problem to a P3P problem. Then, the intrinsic and extrinsic parameter estimation is to solve frame transformation and the P3P problem. Lastly, we solve the multi-solution problem by image resolution. Experimental results show its accuracy, numerical stability and uniqueness of the solution for intrinsic and extrinsic parameter estimation in synthetic data and real images.

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Solving Generalized Pose Problem of Central and Non-central Cameras

Li,

Shang,

Guan

et al. 2023

Lecture Notes in Computer Science

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A consistently fast and accurate algorithm for estimating camera pose from point correspondences

Cited by 10 publications

References 31 publications

An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry

An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry

A Novel Method for Intrinsic and Extrinsic Parameters Estimation by Solving Perspective-Three-Point Problem with Known Camera Position

Solving Generalized Pose Problem of Central and Non-central Cameras

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