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Efficient computation of relative pose for multi-camera systems

Kneip, Laurent; Li, Hongdong

Description

We present a novel solution to compute the relative pose of a generalized camera. Existing solutions are either not general, have too high computational complexity, or require too many correspondences, which impedes an efficient or accurate usage within Ransac schemes. We factorize the problem as a low-dimensional, iterative optimization over relative rotation only, directly derived from well-known epipolar constraints. Common generalized cameras often consist of camera clusters, and give rise...[Show more]

dc.contributor.authorKneip, Laurent
dc.contributor.authorLi, Hongdong
dc.coverage.spatialColumbus USA
dc.date.accessioned2015-12-10T22:24:07Z
dc.date.createdJune 23-28 2014
dc.identifier.isbn9781479951178
dc.identifier.urihttp://hdl.handle.net/1885/53114
dc.description.abstractWe present a novel solution to compute the relative pose of a generalized camera. Existing solutions are either not general, have too high computational complexity, or require too many correspondences, which impedes an efficient or accurate usage within Ransac schemes. We factorize the problem as a low-dimensional, iterative optimization over relative rotation only, directly derived from well-known epipolar constraints. Common generalized cameras often consist of camera clusters, and give rise to omni-directional landmark observations. We prove that our iterative scheme performs well in such practically relevant situations, eventually resulting in computational efficiency similar to linear solvers, and accuracy close to bundle adjustment, while using less correspondences. Experiments on both virtual and real multi-camera systems prove superior overall performance for robust, real-time multi-camera motion-estimation.
dc.publisherIEEE
dc.relation.ispartofseries27th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2014
dc.sourceProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
dc.titleEfficient computation of relative pose for multi-camera systems
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2014
local.identifier.absfor090600 - ELECTRICAL AND ELECTRONIC ENGINEERING
local.identifier.absfor080104 - Computer Vision
local.identifier.ariespublicationa383154xPUB265
local.type.statusPublished Version
local.contributor.affiliationKneip, Laurent, College of Engineering and Computer Science, ANU
local.contributor.affiliationLi, Hongdong, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage446
local.bibliographicCitation.lastpage453
local.identifier.doi10.1109/CVPR.2014.64
dc.date.updated2015-12-09T09:14:05Z
local.identifier.scopusID2-s2.0-84911400987
CollectionsANU Research Publications

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