Relative camera pose estimation method using optimization on the manifold

Medientyp: E-Artikel; Sonstige Veröffentlichung
Titel: Relative camera pose estimation method using optimization on the manifold
Beteiligte: Cheng, Chuanqi [VerfasserIn]; Hao, Xiangyang [VerfasserIn]; Li, Jiansheng [VerfasserIn]; Rottensteiner, F. [VerfasserIn]; Jacobsen, K. [VerfasserIn]; Ying, Yang, M. [VerfasserIn]; Heipke, C. [VerfasserIn]; Skaloud, J. [VerfasserIn]; Stilla, U. [VerfasserIn]; Colomina, I. [VerfasserIn]; Yilmaz, A. [VerfasserIn]
Erschienen: Göttingen : Copernicus GmbH, 2017
Erschienen in: ISPRS Hannover Workshop: HRIGI 17 – CMRT 17 – ISA 17 – EuroCOW 17 ; The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; XLII-1/W1
Ausgabe: published Version
Sprache: Englisch
DOI: https://doi.org/10.15488/1732; https://doi.org/10.5194/isprs-archives-XLII-1-W1-41-2017; https://doi.org/10.5194/isprs-archives-xlii-1-w1-41-2017
ISSN: 1682-1750
Schlagwörter: Nonlinear least squares ; Parameter estimation ; Rigid structures ; Pose estimation ; Optimization ; Levenberg-Marquardt ; State estimation ; Optimization modeling ; Lie group/Algebra ; Camera pose estimation ; Konferenzschrift ; Cameras ; Rigid body transformation ; Maximum a posteriori models ; Manifold
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Beschreibung: To solve the problem of relative camera pose estimation, a method using optimization with respect to the manifold is proposed. Firstly from maximum-a-posteriori (MAP) model to nonlinear least squares (NLS) model, the general state estimation model using optimization is derived. Then the camera pose estimation model is applied to the general state estimation model, while the parameterization of rigid body transformation is represented by Lie group/algebra. The jacobian of point-pose model with respect to Lie group/algebra is derived in detail and thus the optimization model of rigid body transformation is established. Experimental results show that compared with the original algorithms, the approaches with optimization can obtain higher accuracy both in rotation and translation, while avoiding the singularity of Euler angle parameterization of rotation. Thus the proposed method can estimate relative camera pose with high accuracy and robustness.
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Relative camera pose estimation method using optimization on the manifold - [published Version]

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