Fast Iterative Five point Relative Pose Estimation
(English)Manuscript (preprint) (Other academic)
Robust estimation of the relative pose between two cameras is a fundamental part of Structure and Motion methods. For calibrated cameras, the five point method together with a robust estimator such as RANSAC gives the best result in most cases. The current state-of-the-art method for solving the relative pose problem from five points is due to Nist´er , because it is faster than other methods and in the RANSAC scheme one can improve precision by increasing the number of iterations.
In this paper, we propose a new iterative method, which is based on Powell’s Dog Leg algorithm. The new method has the same precision and is approximately twice as fast as Nist´er’s algorithm. The proposed algorithm is systematically evaluated on two types of datasets with known ground truth.
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-76902OAI: oai:DiVA.org:liu-76902DiVA: diva2:517586