NDLI: A Minimal Solution to the Generalized Pose-and-Scale Problem

Content Provider	IEEE Xplore Digital Library
Author	Ventura, J. Arth, C. Reitmayr, G. Schmalstieg, D.
Copyright Year	2014
Description	Author affiliation: Inst. for Comput. Graphics & Vision, Graz Univ. of Technol., Graz, Austria (Ventura, J.; Arth, C.; Schmalstieg, D.) \|\| Qualcomm Austria Res. Center, Vienna, Austria (Reitmayr, G.)
Abstract	We propose a novel solution to the generalized camera pose problem which includes the internal scale of the generalized camera as an unknown parameter. This further generalization of the well-known absolute camera pose problem has applications in multi-frame loop closure. While a well-calibrated camera rig has a fixed and known scale, camera trajectories produced by monocular motion estimation necessarily lack a scale estimate. Thus, when performing loop closure in monocular visual odometry, or registering separate structure-from-motion reconstructions, we must estimate a seven degree-of-freedom similarity transform from corresponding observations. Existing approaches solve this problem, in specialized configurations, by aligning 3D triangulated points or individual camera pose estimates. Our approach handles general configurations of rays and points and directly estimates the full similarity transformation from the 2D-3D correspondences. Four correspondences are needed in the minimal case, which has eight possible solutions. The minimal solver can be used in a hypothesize-and-test architecture for robust transformation estimation. Our solver also produces a least-squares estimate in the overdetermined case. The approach is evaluated experimentally on synthetic and real datasets, and is shown to produce higher accuracy solutions to multi-frame loop closure than existing approaches.
Starting Page	422
Ending Page	429
File Size	606789
Page Count	8
File Format	PDF
ISBN	9781479951185
ISSN	10636919
DOI	10.1109/CVPR.2014.61
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Equations Vectors Accuracy Image reconstruction Matrix decomposition Three-dimensional displays minimal solvers 3d computer vision structure from motion loop closure absolute pose generalized camera
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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