Effective pose estimation from point pairs

	Effective pose estimation from point pairs
	Zhong, ZG; Yi, JQ; Zhao, DB; Hong, YP
刊名	IMAGE AND VISION COMPUTING
	2005-07-01
卷号	23 期号:7 页码:651-660
关键词	depth estimations motion estimation extrinsic calibration motion vision
英文摘要	This paper presents a new technique for depth and motion estimation from image sequence, aiming at the model-based pose estimation problem. The key of the proposed technique is a novel depth estimation approach. It can compute directly the depths of model points in consecutive camera coordinate systems according to geometric relationships between a camera and model point pairs instead of individual model point. Based on the proposed depth estimation method, two strategies are discussed to tackle three different cases of camera motion. Both strategies first compute depths, independent of motion parameters, from two images. The difference between them is two or three images are required to estimate efficiently the camera motion. If the camera only translates, two images are needed to compute directly the translation. The strategy requiring three images is mainly for the case that the camera translates with large rotation, which is difficult to be recovered accurately from two images. However, if the camera translates with small rotation, then the two strategies are applicable. The main contributions of this paper are the proposed point pairs based depth estimation method and three images based strategy to recover large rotational motion. The presented technique is simple and appealing. Extensive experiments are performed on synthetic data and real images to demonstrate its efficiency and robustness. (c) 2005 Elsevier B.V. All rights reserved.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics
研究领域[WOS]	Computer Science ; Engineering ; Optics
关键词[WOS]	3-D MOTION ESTIMATION ; OPTICAL-FLOW ; PARAMETERS ; ALGORITHM ; STEREO ; ROBUST ; SCENE ; DEPTH
收录类别	SCI
语种	英语
WOS记录号	WOS:000230147100004
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9131]
专题	自动化研究所_09年以前成果
作者单位	Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Zhong, ZG,Yi, JQ,Zhao, DB,et al. Effective pose estimation from point pairs[J]. IMAGE AND VISION COMPUTING,2005,23(7):651-660.
APA	Zhong, ZG,Yi, JQ,Zhao, DB,&Hong, YP.(2005).Effective pose estimation from point pairs.IMAGE AND VISION COMPUTING,23(7),651-660.
MLA	Zhong, ZG,et al."Effective pose estimation from point pairs".IMAGE AND VISION COMPUTING 23.7(2005):651-660.