Accurate Line-Based Relative Pose Estimation With Camera Matrices

doi:10.1109/ACCESS.2020.2992505

	Accurate Line-Based Relative Pose Estimation With Camera Matrices
	Peihong Yu1,2,3 ; Cen Wang1 ; Zhirui Wang 4; Jingyi Yu1 ; Laurent Kneip1
	2020
发表期刊	IEEE ACCESS (IF:3.4[JCR-2023],3.7[5-Year])
ISSN	2169-3536
卷号	8
发表状态	已发表
DOI	10.1109/ACCESS.2020.2992505
摘要	While most monocular structure-from-motion frameworks rely on sparse keypoints, it has long been acknowledged that lines represent an alternative, higher-order feature with high accuracy, repeatability, and abundant availability in man-made environments. Its exclusive use, however, is severely complicated by its inability to resolve the common bootstrapping scenario of two-view geometry. Even with stereo cameras, a one-dimensional disparity space, as well as ill-posed triangulations of horizontal lines make the realization of purely line-based tracking pipelines difficult. The present paper successfully leverages the redundancy in camera matrices to alleviate this shortcoming. We present a novel stereo trifocal tensor solver and extend it to the case of two camera matrix view-points. Our experiments demonstrate superior behavior with respect to both 2D-2D and 3D-3D alternatives. We furthermore outline the camera matrix's ability to continuously and robustly bootstrap visual motion estimation pipelines via integration into a robust, purely line-based visual odometry pipeline. The result leads to state-of-the-art tracking accuracy comparable to what is achieved by point-based stereo or even dense depth camera alternatives.
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收录类别	SCI ; SCIE ; EI
来源库	IEEE
引用统计	正在获取...
文献类型	期刊论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/121562
专题	信息科学与技术学院信息科学与技术学院_PI研究组_虞晶怡组信息科学与技术学院_PI研究组_Laurent Kneip组信息科学与技术学院_硕士生
作者单位	1.School of Information Science and Technology, ShanghaiTech University, Shanghai, China 2.Chinese Academy of Sciences, Shanghai Institute of Microsystem and Information Technology, Shanghai, China 3.University of Chinese Academy of Sciences, Beijing, China 4.Motovis Intelligent Technologies Ltd., Shanghai, China
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Peihong Yu,Cen Wang,Zhirui Wang,et al. Accurate Line-Based Relative Pose Estimation With Camera Matrices[J]. IEEE ACCESS,2020,8.
APA	Peihong Yu,Cen Wang,Zhirui Wang,Jingyi Yu,&Laurent Kneip.(2020).Accurate Line-Based Relative Pose Estimation With Camera Matrices.IEEE ACCESS,8.
MLA	Peihong Yu,et al."Accurate Line-Based Relative Pose Estimation With Camera Matrices".IEEE ACCESS 8(2020).