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Fast Iterative Five point Relative Pose Estimation
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-6096-3648
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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 Nistér [9], 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 Nister's algorithm. The proposed method is easily extended to more than five points while retaining a efficient error metrics. This makes it also very suitable as an refinement step. The proposed algorithm is systematically evaluated on three types of datasets with known ground truth.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 60-67 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-90102DOI: 10.1109/WORV.2013.6521915ISBN: 978-1-4673-5647-3 (print)ISBN: 978-1-4673-5646-6 (print)OAI: oai:DiVA.org:liu-90102DiVA: diva2:612068
Conference
IEEE Workshop on Robot Vision (WoRV 2013), January 15-17, 2013, Clearwater, FL, USA
Projects
VPS
Funder
Swedish Foundation for Strategic Research , IS11-0081
Available from: 2013-03-22 Created: 2013-03-19 Last updated: 2016-05-04Bibliographically approved

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Hedborg, JohanFelsberg, Michael

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf