Saved in:
| Main Author: | |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2312.08488 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913257470558208 |
|---|---|
| author | Wang, Joshua |
| author_facet | Wang, Joshua |
| contents | We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_08488 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | A PnP Algorithm for Two-Dimensional Pose Estimation Wang, Joshua Robotics Computer Vision and Pattern Recognition We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise. |
| title | A PnP Algorithm for Two-Dimensional Pose Estimation |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2312.08488 |