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Accurate and linear time pose estimation from points and lines
Vakhitov, A.; Funke, Jan; Moreno-Noguer, Francesc
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
The final publication is available at
The Perspective-n-Point (PnP) problem seeks to estimate the pose of a calibrated camera from n 3Dto-2D point correspondences. There are situations, though, where PnP solutions are prone to fail because feature point correspondences cannot be reliably estimated (e.g. scenes with repetitive patterns or with low texture). In such scenarios, one can still exploit alternative geometric entities, such as lines, yielding the so-called Perspective-n-Line (PnL) algorithms. Unfortunately, existing PnL solutions are not as accurate and efficient as their point-based counterparts. In this paper we propose a novel approach to introduce 3D-to-2D line correspondences into a PnP formulation, allowing to simultaneously process points and lines. For this purpose we introduce an algebraic line error that can be formulated as linear constraints on the line endpoints, even when these are not directly observable. These constraints can then be naturally integrated within the linear formulations of two state-of-the-art point-based algorithms, the OPnP and the EPnP, allowing them to indistinctly handle points, lines, or a combination of them. Exhaustive experiments show that the proposed formulation brings remarkable boost in performance compared to only point or only line based solutions, with a negligible computational overhead compared to the original OPnP and EPnP.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
computational complexity
feature extraction
pose estimation
linear time pose estimation
point processing
line processing
perspective-n-point problem
PnP problem
calibrated camera
3D-to-2D point correspondences
feature point correspondences
alternative geometric entities
perspective-n-line algorithms
PnL algorithms
algebraic line error
linear constraints
line endpoints
point-based algorithms
Classificació INSPEC::Optimisation

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