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W.-Y.: On Pose Recovery for Generalized Visual Sensors
| Venue: | IEEE Transactions on Pattern Analysis and Machine Intelligence |
| Citations: | 24 - 3 self |
BibTeX
@ARTICLE{Chen_w.-y.:on,
author = {Chu-song Chen and Wen-yan Chang},
title = {W.-Y.: On Pose Recovery for Generalized Visual Sensors},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {},
pages = {848--861}
}
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Abstract
Abstract—With the advances in imaging technologies for robot or machine vision, new imaging devices are being developed for robot navigation or image-based rendering. However, to satisfy some design criterion, such as image resolution or viewing ranges, these devices are not necessarily being designed to follow the perspective rule and, thus, the imaging rays may not pass through a common point. Such generalized imaging devices may not be perspective and, therefore, their poses cannot be estimated with traditional techniques. In this paper, we propose a systematic method for pose estimation of such a generalized imaging device. We formulate it as a nonperspective n point (NPnP) problem. The case with exact solutions, n 3, is investigated comprehensively. Approximate solutions can be found for n>3 in a least-squared-error manner by combining an initial-pose-estimation procedure and an orthogonally iterative procedure. This proposed method can be applied not only to nonperspective imaging devices but also perspective ones. Results from experiments show that our approach can solve the NPnP problem accurately. Index Terms—Computer vision, camera pose estimation, generalized imaging device (GID), perspective n point problem (PnP), nonperspective n point problem (NPnP). æ 1
Keyphrases
pose recovery generalized visual sensor generalized imaging device npnp problem image resolution robot navigation perspective rule nonperspective point image-based rendering viewing range index term computer vision camera pose estimation iterative procedure imaging device nonperspective point problem common point nonperspective imaging device approximate solution systematic method initial-pose-estimation procedure least-squared-error manner exact solution imaging ray design criterion new imaging device machine vision traditional technique perspective one pose estimation perspective point problem
