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Minimal solutions for the multi-camera pose estimation problem

Lee, Gim Hee and Li, Bo and Pollefeys, Marc and Fraundorfer, Friedrich (2015) Minimal solutions for the multi-camera pose estimation problem. The International Journal of Robotics Research, 34 (7), pp. 837-848. SAGE Publications. DOI: 10.1177/0278364914557969 ISSN 0278-3649

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Official URL: http://ijr.sagepub.com/content/34/7.toc


In this paper, we propose a novel formulation to solve the pose estimation problem of a calibrated multi-camera system. The non-central rays that pass through the 3D world points and multi-camera system are elegantly represented as Plu¨cker lines. This allows us to solve for the depth of the points along the Plu¨cker lines with a minimal set of three-point correspondences. We show that the minimal solution for the depth of the points along the Plu¨cker lines is an eight-degree polynomial that gives up to eight real solutions. The coordinates of the 3D world points in the multi-camera frame are computed from the known depths. Consequently, the pose of the multi-camera system, i.e. the rigid transformation between the world and multi-camera frames can be obtained from absolute orientation. We also derive a closed-form minimal solution for the absolute orientation. This removes the need for the computationally expensive singular value decompositions during the evaluations of the possible solutions for the depths. We identify the correct solution and do robust estimation with RANSAC. Finally, the solution is further refined by including all the inlier correspondences in a nonlinear refinement step. We verify our approach by showing comparisons with other existing approaches and results from large-scale real-world datasets.

Item URL in elib:https://elib.dlr.de/94304/
Document Type:Article
Title:Minimal solutions for the multi-camera pose estimation problem
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lee, Gim HeeMitsubishi Electric Research Laboratories, USAUNSPECIFIED
Li, BoBaidu Inc., ChinaUNSPECIFIED
Pollefeys, MarcETH Zürich, SwitzerlandUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Date:February 2015
Journal or Publication Title:The International Journal of Robotics Research
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1177/0278364914557969
Page Range:pp. 837-848
Hollerbach, JohnSchool of Computing, University of Utah, USA
Publisher:SAGE Publications
Keywords:Non-perspective pose estimation, multi-camera system, minimal solutions, localization
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited On:08 Dec 2015 09:08
Last Modified:06 Sep 2019 15:30

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