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Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem

Kneip, Laurent; Furgale, Paul; Siegwart, Roland

Description

This paper introduces two novel solutions to the generalized-camera exterior orientation problem, which has a vast number of potential applications in robotics: (i) a minimal solution requiring only three point correspondences, and (ii) gPnP, an efficient, non-iterative n-point solution with linear complexity in the number of points. Already existing minimal solutions require exhaustive algebraic derivations. In contrast, our novel minimal solution is solved in a straightforward manner using...[Show more]

dc.contributor.authorKneip, Laurent
dc.contributor.authorFurgale, Paul
dc.contributor.authorSiegwart, Roland
dc.coverage.spatialKarlsruhe Germany
dc.date.accessioned2015-12-07T22:52:31Z
dc.date.createdMay 6-10 2013
dc.identifier.isbn9781467356411
dc.identifier.urihttp://hdl.handle.net/1885/27462
dc.description.abstractThis paper introduces two novel solutions to the generalized-camera exterior orientation problem, which has a vast number of potential applications in robotics: (i) a minimal solution requiring only three point correspondences, and (ii) gPnP, an efficient, non-iterative n-point solution with linear complexity in the number of points. Already existing minimal solutions require exhaustive algebraic derivations. In contrast, our novel minimal solution is solved in a straightforward manner using the Gröbner basis method. Existing n-point solutions are mostly based on iterative optimization schemes. Our n-point solution is non-iterative and outperforms existing algorithms in terms of computational efficiency. Our results present an evaluation against state-of-the-art single-camera algorithms, and a comparison of different multi-camera setups. It demonstrates the superior noise resilience achieved when using multi-camera configurations, and the efficiency of our algorithms. As a further contribution, we illustrate a possible robotic use-case of our non-perspective orientation computation algorithms by presenting visual odometry results on real data with a non-overlapping multi-camera configuration, including a comparison to a loosely coupled alternative.
dc.publisherIEEE
dc.relation.ispartofseries2013 IEEE International Conference on Robotics and Automation, ICRA 2013
dc.sourceProceedings - IEEE International Conference on Robotics and Automation
dc.titleUsing Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2013
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4628727xPUB51
local.type.statusPublished Version
local.contributor.affiliationKneip, Laurent, College of Engineering and Computer Science, ANU
local.contributor.affiliationFurgale, Paul, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.contributor.affiliationSiegwart, Roland, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.description.embargo2037-12-31
local.bibliographicCitation.startpage3770
local.bibliographicCitation.lastpage3776
local.identifier.doi10.1109/ICRA.2013.6631107
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2015-12-07T12:30:11Z
local.identifier.scopusID2-s2.0-84887276462
CollectionsANU Research Publications

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