Efficient Solution of Point-Line Absolute Pose
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866914770448285696 |
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| author | Hruby, Petr Duff, Timothy Pollefeys, Marc |
| author_facet | Hruby, Petr Duff, Timothy Pollefeys, Marc |
| contents | We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in \{ 1, 2 \}$ point--point correspondences and $l=3-p$ line--line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree $\ge 4$ (univariate) polynomials when $p=2$, or degree $\ge 8$ polynomials when $p=1.$ We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from $4$ to $2$ and from $8$ to $4$, respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous state-of-the art, we may obtain nearly an order of magnitude speedup. The code is available at \url{https://github.com/petrhruby97/efficient\_absolute} |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_16552 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Efficient Solution of Point-Line Absolute Pose Hruby, Petr Duff, Timothy Pollefeys, Marc Computer Vision and Pattern Recognition 68T45 I.4.5 We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in \{ 1, 2 \}$ point--point correspondences and $l=3-p$ line--line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree $\ge 4$ (univariate) polynomials when $p=2$, or degree $\ge 8$ polynomials when $p=1.$ We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from $4$ to $2$ and from $8$ to $4$, respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous state-of-the art, we may obtain nearly an order of magnitude speedup. The code is available at \url{https://github.com/petrhruby97/efficient\_absolute} |
| title | Efficient Solution of Point-Line Absolute Pose |
| topic | Computer Vision and Pattern Recognition 68T45 I.4.5 |
| url | https://arxiv.org/abs/2404.16552 |