Partially calibrated semi-generalized pose from hybrid point correspondences

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.

NATURVETENSKAP Data- och informationsvetenskap Datorseende och robotik hsv//swe
NATURAL SCIENCES Computer and Information Sciences Computer Vision and Robotics hsv//eng
Algorithms: 3D computer vision
Computational photography
image and video synthesis
Image recognition and understanding (object detection, categorization, segmentation, scene modeling, visual reasoning)

Sattler, TorstenCzech Institute of Informatics, Robotics and Cybernetics (författare)
Larsson, ViktorLund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,LTH profilområde: AI och digitalisering,LTH profilområden,Lunds Tekniska Högskola,Lund University Research Groups,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH(Swepub:lu)vi4846la (författare)
Heikkila, JanneUniversity of Oulu (författare)
Kukelova, ZuzanaCzech Technical University in Prague (författare)
University of OuluCzech Institute of Informatics, Robotics and Cybernetics (creator_code:org_t)

Ingår i:Proceedings - 2023 IEEE Winter Conference on Applications of Computer Vision, WACV 2023, s. 2881-28909781665493468

Av författaren/redakt...: Bhayani, Snehal; Sattler, Torsten; Larsson, Viktor; Heikkila, Janne; Kukelova, Zuzana

Om ämnet

NATURVETENSKAP: NATURVETENSKAP; och Data och informa ...; och Datorseende och ...

Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.