Minimal Case Relative Pose Computation using Ray-Point-Ray Features

Zhao, Ji; Kneip, Laurent; He, Yijia; Ma, Jiayi

doi:10.1109/tpami.2019.2892372

Cited by 23 publications

(17 citation statements)

References 44 publications

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“…Second, the exploited geometric primitives can be points [5], [11], oriented points [15], [16], hybrid of point and line structures [24], [25], [26], etc. Recently, oriented points (or an infinitesimal patch equivalently) have drawn much attention.…”

Section: Related Workmentioning

confidence: 99%

On Relative Pose Recovery for Multi-Camera Systems

Zhao¹,

Guan²

2021

Preprint

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The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work demonstrates that one AC generally provides three independent constraints for relative pose estimation. For multi-camera systems, there is still not any AC-based minimal solver for general relative pose estimation. To deal with this problem, we propose a complete solution to relative pose estimation from two ACs for multi-camera systems, consisting of a series of minimal solvers. The solver generation in our solution is based on Cayley or quaternion parameterization for rotation and hidden variable technique to eliminate translation. This solver generation method is also naturally applied to relative pose estimation from PCs, resulting in a new six-point method for multi-camera systems. A few extensions are made, including relative pose estimation with known rotation angle and/or with unknown focal lengths. Extensive experiments demonstrate that the proposed AC-based solvers and PC-based solvers are effective and efficient on synthetic and real-world datasets.

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Section: Related Workmentioning

confidence: 99%

On Relative Pose Recovery for Multi-Camera Systems

Zhao¹,

Guan²

2021

Preprint

Self Cite

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“…Seminal works used curves and edges in three views to transfer differential geometry for matching [5,62], and for pose and trifocal tensor estimation [13,65]. Point-tangents can be framed as quivers (1-quivers), or feature points with attributed directions (e.g., corners), proposed in the context of uncalibrated trifocal geometry but de-emphasizing the connection to tangents to general curves [29,74]. We note that point-tangent fields may also be framed as vector fields, so related technology may apply to surface-induced correspondence data [16].…”

Section: Literature Reviewmentioning

confidence: 99%

TRPLP – Trifocal Relative Pose From Lines at Points

Fabbri

Duff

Fan

et al. 2020

2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

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We present a new minimal problem for relative pose estimation mixing point features with lines incident at points observed in three views and its efficient homotopy continuation solver. We demonstrate the generality of the approach by analyzing and solving an additional problem with mixed point and line correspondences in three views. The minimal problems include correspondences of (i) three points and one line and (ii) three points and two lines through two of the points which is reported and analyzed here for the first time. These are difficult to solve, as they have 216 and -as shown here -312 solutions, but cover important practical situations when line and point features appear together, e.g., in urban scenes or when observing curves. We demonstrate that even such difficult problems can be solved robustly using a suitable homotopy continuation technique and we provide an implementation optimized for minimal problems that can be integrated into engineering applications. Our simulated and real experiments demonstrate our solvers in the camera geometry computation task in structure from motion. We show that new solvers allow for reconstructing challenging scenes where the standard two-view initialization of structure from motion fails.

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“…In [10,45], parallelism and perpendicularity of lines in space were exploited to find calibrated relative pose from lines and points. Recent work [55] investigates calibrated relative camera pose problems from two views with 2-quivers with known angles between the 3D lines generating the quivers. Minimal problems for finding the relative pose from three such correspondences for the generic as well as several more specific cases is derived.…”

Section: Previous Workmentioning

confidence: 99%

PLMP - Point-Line Minimal Problems in Complete Multi-View Visibility

Duff

Kohn

Leykin

et al. 2019

2019 IEEE/CVF International Conference on Computer Vision (ICCV)

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We present a complete classification of all minimal problems for generic arrangements of points and lines completely observed by calibrated perspective cameras. We show that there are only 30 minimal problems in total, no problems exist for more than 6 cameras, for more than 5 points, and for more than 6 lines. We present a sequence of tests for detecting minimality starting with counting degrees of freedom and ending with full symbolic and numeric verification of representative examples. For all minimal problems discovered, we present their algebraic degrees, i.e. the number of solutions, which measure their intrinsic difficulty. It shows how exactly the difficulty of problems grows with the number of views. Importantly, several new minimal problems have small degrees that might be practical in image matching and 3D reconstruction.

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Minimal Case Relative Pose Computation using Ray-Point-Ray Features

Cited by 23 publications

References 44 publications

On Relative Pose Recovery for Multi-Camera Systems

On Relative Pose Recovery for Multi-Camera Systems

TRPLP – Trifocal Relative Pose From Lines at Points

PLMP - Point-Line Minimal Problems in Complete Multi-View Visibility

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