Camera pose estimation from lines: a fast, robust and general method

doi:10.1007/s00138-019-01012-0

	Camera pose estimation from lines: a fast, robust and general method
	Wang, Ping 1,2; Xu, Guili 2; Cheng, Yuehua 3; Yu, Qida 2
刊名	MACHINE VISION AND APPLICATIONS
	2019-06
卷号	30 期号:4 页码:603-614
关键词	Perspective-n-line problem (PnL) Camera pose estimation Absolute position and orientation Computer vision
ISSN号	0932-8092
DOI	10.1007/s00138-019-01012-0
英文摘要	In this paper, we revisit the perspective-n-line problem and propose a closed-form solution that is fast, robust and generally applicable. Our main idea is to formulate the pose estimation problem into an optimal problem. Our method only needs to solve a fifteenth-order and a fourth-order univariate polynomial, respectively, which makes the processes more easily understood and significantly improves the performance. Experiment results show that our method offers accuracy and precision comparable or better than existing state-of-the-art methods, but with significantly lower computational cost. This superior computational efficiency is particularly suitable for real applications.
资助项目	Foundation of China Shipbuilding Industry Company Limited[6141B0405103]
WOS研究方向	Computer Science ; Engineering
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000469483000004
状态	已发表
内容类型	期刊论文
源URL	[http://119.78.100.223/handle/2XXMBERH/31836]
专题	电气工程与信息工程学院
通讯作者	Xu, Guili
作者单位	1.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Gansu, Peoples R China 2.Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Jiangsu, Peoples R China 3.Nanjing Univ Aeronaut & Astronaut, Coll Astronaut, Nanjing 211106, Jiangsu, Peoples R China
推荐引用方式 GB/T 7714	Wang, Ping,Xu, Guili,Cheng, Yuehua,et al. Camera pose estimation from lines: a fast, robust and general method[J]. MACHINE VISION AND APPLICATIONS,2019,30(4):603-614.
APA	Wang, Ping,Xu, Guili,Cheng, Yuehua,&Yu, Qida.(2019).Camera pose estimation from lines: a fast, robust and general method.MACHINE VISION AND APPLICATIONS,30(4),603-614.
MLA	Wang, Ping,et al."Camera pose estimation from lines: a fast, robust and general method".MACHINE VISION AND APPLICATIONS 30.4(2019):603-614.