Accurate mirror-based camera pose estimation with explicit geometric meanings
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- 作者：Xin Li (1) (2)
GuCan Long (1) (2)
PengYu Guo (1) (2)
JinBo Liu (1) (2)
XiaoHu Zhang (1) (2)
QiFeng Yu (1) (2) - 关键词：pose estimation ; planar mirror reflection ; geometric meaning ; SVD
- 刊名：SCIENCE CHINA Technological Sciences
- 出版年：2014
- 出版时间：December 2014
- 年：2014
- 卷：57
- 期：12
- 页码：2504-2513
- 全文大小：917 KB
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GuCan Long (1) (2)
PengYu Guo (1) (2)
JinBo Liu (1) (2)
XiaoHu Zhang (1) (2)
QiFeng Yu (1) (2)
1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, 410073, China
2. Hunan Key Laboratory of Videometrics and Vision Navigation, Changsha, 410073, China - ISSN：1869-1900
文摘
An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our method is more accurate when there are more than three images and has explicit geometric meanings. This method also properly handles cases in which some of the mirror poses are parallel. The central idea is to minimize an error metric based on all reflections of rotation, which enables the camera rotation to be estimated directly by SVD of sum of mirrored camera rotations. After that, the camera translation is computed by solving a large system of linear equations to minimize object space collinearity error. Both synthesized data and real data experiments show the advantages of our approach.