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Camera Pose Estimation Using First-Order Curve Differential Geometry.
- Source :
-
IEEE Transactions on Pattern Analysis & Machine Intelligence . Oct2021, Vol. 43 Issue 10, p3321-3332. 12p. - Publication Year :
- 2021
-
Abstract
- This paper considers and solves the problem of estimating camera pose given a pair of point-tangent correspondences between a 3D scene and a projected image. The problem arises when considering curve geometry as the basis of forming correspondences, computation of structure and calibration, which in its simplest form is a point augmented with the curve tangent. We show that while the resectioning problem is solved with a minimum of three points given the intrinsic parameters, when points are augmented with tangent information only two points are required, leading to substantial robustness and computational savings, e.g., as a minimal engine within ransac. In addition, algorithms are developed to find a practical solution shown to effectively recover camera pose using synthetic and real datasets. This technology is intended as a building block of curve-based structure from motion systems, allowing new views to be incrementally registered to a core set of views for which relative pose has been computed. [ABSTRACT FROM AUTHOR]
- Subjects :
- *CAMERAS
*PROBLEM solving
*CURVES
*DIFFERENTIAL geometry
*IMAGE reconstruction
Subjects
Details
- Language :
- English
- ISSN :
- 01628828
- Volume :
- 43
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Pattern Analysis & Machine Intelligence
- Publication Type :
- Academic Journal
- Accession number :
- 153376793
- Full Text :
- https://doi.org/10.1109/TPAMI.2020.2985310