Fabbri Ricardo, Giblin Peter, Kimia Benjamin
IEEE Trans Pattern Anal Mach Intell. 2021 Oct;43(10):3321-3332. doi: 10.1109/TPAMI.2020.2985310. Epub 2021 Sep 2.
This paper considers and solves the problem of estimating camera pose given a pair of point-tangent correspondences between a 3D scene and a projected image. The problem arises when considering curve geometry as the basis of forming correspondences, computation of structure and calibration, which in its simplest form is a point augmented with the curve tangent. We show that while the resectioning problem is solved with a minimum of three points given the intrinsic parameters, when points are augmented with tangent information only two points are required, leading to substantial robustness and computational savings, e.g., as a minimal engine within ransac. In addition, algorithms are developed to find a practical solution shown to effectively recover camera pose using synthetic and real datasets. This technology is intended as a building block of curve-based structure from motion systems, allowing new views to be incrementally registered to a core set of views for which relative pose has been computed.
本文考虑并解决了在给定三维场景与投影图像之间的一对点-切线对应关系的情况下估计相机位姿的问题。当将曲线几何作为形成对应关系、结构计算和校准的基础时，就会出现这个问题，其最简单的形式是一个带有曲线切线的点。我们表明，虽然在已知内参的情况下，使用最少三个点就能解决后方交会问题，但当点增加了切线信息时，只需要两个点，这带来了更高的鲁棒性和计算量的节省，例如，作为RANSAC中的一个最小引擎。此外，还开发了算法来找到一个实际的解决方案，该方案使用合成数据集和真实数据集有效地恢复相机位姿。这项技术旨在作为基于曲线的运动结构系统的一个构建模块，允许将新视图逐步注册到已计算出相对位姿的一组核心视图中。
