A universal, closed-form approach for absolute pose problems

Wientapper, Folker; Schmitt, Michael; Fraissinet-Tachet, Matthieu; Kuijper, Arjan

doi:10.1016/j.cviu.2018.04.006

Cited by 9 publications

(27 citation statements)

References 35 publications

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“…Extensive experimental results show that recovering the local minimal is essential, especially when the number of correspondences N is small. For a small N , our algorithm significantly outperforms previous works [25,26,4,41]. Besides, experimental results verify that our algorithm can converge to the global minimizer with the same accuracy as the previous work with guaranteed globally optimality [26,4], however, our algorithm is much faster.…”

Section: Introductionmentioning

confidence: 50%

“…Estimating the pose from 3D correspondences, i.e. pointto-point, point-to-line and point-to-plane correspondences, is known as the 3D registration problem in the literature [25,24,26,40,4,41]. It is one of the fundamental problems in computer vision with a wide range of applications, such as simultaneous localization and mapping (SLAM) [45,44,23,30,37], extrinsic calibration [47,38,22,11,49] and iterative closes point (ICP) framework [3].…”

Section: Introductionmentioning

confidence: 99%

“…It is one of the fundamental problems in computer vision with a wide range of applications, such as simultaneous localization and mapping (SLAM) [45,44,23,30,37], extrinsic calibration [47,38,22,11,49] and iterative closes point (ICP) framework [3]. Besides, some camera pose estimation problems, such as the perspectiven-point (PnP) problem [12,16] and the perspective-n-line (PnL) problem [42,29], can be transformed to a 3D registration problem [41]. However, the research on this problem is not as thorough as other pose estimation problems.…”

Section: Introductionmentioning

confidence: 99%

“…Some algorithms [26,4] are capable of finding the global minimum, however, their running time makes them not suitable for real-time applications. Recently, Wientapper [41] provided an efficient algorithm, but their algorithm can not achieve the global optimality in theory, and has the risk of no solution. Furthermore, previous works generally assume that the correct solution is the global minimizer.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences

Zhou,

Wang,

et al. 2019

Preprint

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Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task, including a solution for the minimal problem and the least-squares problem of this task. Previous works mainly focused on finding the global minimizer to address the leastsquares problem. However, existing works that show the ability to achieve global minimizer are still unsuitable for real-time applications. Furthermore, as one of contributions of this paper, we prove that there exist ambiguous configurations for any number of lines and planes. These configurations have several solutions in theory, which makes the correct solution may come from a local minimizer. Our algorithm is efficient and able to reveal local minimizers. We employ the Cayley-Gibbs-Rodriguez (CGR) parameterization of the rotation to derive a general rational cost for the three cases of 3D correspondences. The main contribution of this paper is to solve the resulting equation system of the minimal problem and the first-order optimality conditions of the least-squares problem, both of which are of complicated rational forms. The central idea of our algorithm is to introduce intermediate unknowns to simplify the problem. Extensive experimental results show that our algorithm significantly outperforms previous algorithms when the number of correspondences is small. Besides, when the global minimizer is the solution, our algorithm achieves the same accuracy as previous algorithms that have guaranteed global optimality, but our algorithm is applicable to real-time applications.

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Section: Introductionmentioning

confidence: 50%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences

Zhou,

Wang,

et al. 2019

Preprint

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show abstract

“…In this experiment, alignment between the ground truth and the trajectory from the wearable system is carried out by the target pattern (Wientapper et al , 2018), the comparative trajectories are depicted in a common coordinate frame. As shown in Figure 4(b), the trajectory of the ground truth is illustrated in a blue line within some sampling postural data and the trajectory of the proposed multi-sensor wearable system is depicted in the red dashed line.…”

Section: Experiments and Resultsmentioning

confidence: 99%

Continuous ergonomic risk perception for manual assembly operations using wearable multi-sensor posture estimation

Fang

Zheng

2021

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Purpose This paper aims to perform the real-time and accurate ergonomics analysis for the operator in the manual assembly, with the purpose of identifying potential ergonomic injuries when encountering labor-excessive and unreasonable assembly operations. Design/methodology/approach Instead of acquiring body data for ergonomic evaluation by arranging many observers around, this paper proposes a multi-sensor based wearable system to track worker’s posture for a continuous ergonomic assessment. Moreover, given the accurate neck postural data from the shop floor by the proposed wearable system, a continuous rapid upper limb assessment method with robustness to occasional posture changes, is proposed to evaluate the neck and upper back risk during the manual assembly operations. Findings The proposed method can retrieve human activity data during manual assembly operations, and experimental results illustrate that the proposed work is flexible and accurate for continuous ergonomic assessments in manual assembly operations. Originality/value Based on the proposed multi-sensor based wearable system for posture acquisition, a real-time and high-precision ergonomics analysis is achieved with the postural data arrived continuously, it can provide a more objective indicator to assess the ergonomics during manual assembly.

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Robust Absolute and Relative Pose Estimation of a Central Camera System from 2D-3D Line Correspondences

Abdellali

Fröhlich

Kató

2019

2019 IEEE/CVF International Conference on Computer Vision Workshop (ICCVW)

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A universal, closed-form approach for absolute pose problems

Cited by 9 publications

References 35 publications

Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences

Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences

Continuous ergonomic risk perception for manual assembly operations using wearable multi-sensor posture estimation

Robust Absolute and Relative Pose Estimation of a Central Camera System from 2D-3D Line Correspondences

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