An N-Point Linear Solver for Line and Motion Estimation with Event Cameras
2024-04-01
会议录名称ARXIV
ISSN1063-6919
发表状态已发表
DOIarXiv: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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