ShanghaiTech University Knowledge Management System
An N-Point Linear Solver for Line and Motion Estimation with Event Cameras | |
2024-04-01 | |
会议录名称 | ARXIV |
ISSN | 1063-6919 |
发表状态 | 已发表 |
DOI | arXiv:2404.00842 |
摘要 | Event cameras respond primarily to edges—formed by strong gradients—and are thus particularly well -suited for line -based motion estimation. Recent work has shown that events generated by a single line each satisfy a polynomial constraint which describes a manifold in the space-time volume. Multiple such constraints can be solved simultaneously to recover the partial linear velocity and line parameters. In this work, we show that, with a suitable line parametrization, this system of constraints is actually linear in the unknowns, which allows us to design a novel linear solver. Unlike existing solvers, our linear solver (i) is fast and numerically stable since it does not rely on expensive root finding, (ii) can solve both minimal and overdetermined systems with more than 5 events (i.e. N ≥ 5), and (iii) admits the characterization of all degenerate cases and multiple solutions. The found line parameters are singularity -free and have a fixed scale, which eliminates the need for auxiliary constraints typically encountered in previous work. To recover the full linear camera velocity we fuse observations from multiple lines with a novel velocity averaging scheme that relies on a geometrically -motivated residual, and thus solves the problem more efficiently than previous schemes which minimize an algebraic residual. Extensive experiments in synthetic and real -world settings demonstrate that our method surpasses the previous work in numerical stability, and operates over 600 times faster. |
会议地点 | Seattle, WA, USA |
会议日期 | 16-22 June 2024 |
URL | 查看原文 |
资助项目 | Natural Science Foundation of Shanghai[ |
WOS类目 | Computer Science, Software Engineering |
WOS记录号 | PPRN:88367138 |
来源库 | IEEE |
文献类型 | 会议论文 |
条目标识符 | https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/372932 |
专题 | 信息科学与技术学院_博士生 信息科学与技术学院_PI研究组_Laurent Kneip组 |
通讯作者 | Gao, Ling |
作者单位 | 1.ShanghaiTech Univ, Mobile Percept Lab, Shanghai, Peoples R China 2.Univ Zurich, Robot & Percept Grp, Zurich, Switzerland |
第一作者单位 | 上海科技大学 |
通讯作者单位 | 上海科技大学 |
第一作者的第一单位 | 上海科技大学 |
推荐引用方式 GB/T 7714 | Gao, Ling,Gehrig, Daniel,Su, Hang,et al. An N-Point Linear Solver for Line and Motion Estimation with Event Cameras[C],2024. |
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