Efficient Ego-Motion Estimation for Multi-Camera Systems With Decoupled Rotation and Translation

Tian, Miao; Guan, Banglei; Zhibin, Xing; Fraundorfer, Friedrich

doi:10.1109/access.2020.3018225

Cited by 5 publications

(2 citation statements)

References 27 publications

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“…Subsequently, several algorithms of the generalized camera model have been presented. For example, some give solutions to generalized absolute pose problems [22], [23], some focus on generalized relative pose problems [24], [25], and some assume the internal scale of the generalized camera is not consistent and solve a generalized pose and scale problem [26], [27].…”

Section: Introductionmentioning

confidence: 99%

A Generalized 2-Point Solution for Absolute Camera Pose With Known Rotation Axis

Li,

Shang,

Guan

et al. 2023

IEEE Access

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The perspective-n-point problem (PnP) is one of the most fundamental problems in photogrammetry and computer vision. Recently prior motion knowledge has been applied to help solve the problem, generating a perspective-two-point (P2P) problem, also known as the absolute camera pose problem with a known rotation axis. This paper provides a simple generalized, closed-form solution to the P2P problem. The rotation axis can be the gravity direction from IMU, the upward direction from the vanishing points in the images, or the vertical direction of the ground plane where a vehicle is moving. The current state-of-art P2P solver finds roots of a depth-based equation. However, as can be seen from the perspective-three-point (P3P) problem, there are two categories of solvers, one formulating a quartic equation about the rotation and the other formulating the equation about the depth. The former is more numerically stable than the latter one. Activated by this, we obtain a quadratic polynomial involving one variable about the rotation from the geometric constraints, which can be solved quickly. Subsequent back substitution directly gives a linear solution to the translation. Moreover, we extend our idea to the generalized camera model, which makes our solver work for a single camera or a multi-camera rig. We ran several synthetic experiments demonstrating that our algorithm has high accuracy and robustness and needs less computational time than other state-of-the-art algorithms. Further experiments with real data show that our solver provides state-of-the-art performance and works well with the RANSAC-outlier-rejection scheme.

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Section: Introductionmentioning

confidence: 99%

A Generalized 2-Point Solution for Absolute Camera Pose With Known Rotation Axis

Li,

Shang,

Guan

et al. 2023

IEEE Access

Self Cite

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show abstract

“…This difference is represented as a rotation operation; thus, the goal is to find the rotational axis and rotational angle that best rotate a frame given by (

, and

) to another frame given by (

, and

). Finding the rotation between frames is applied in many fields, such as robotics [ 1 , 2 ], navigation and control [ 3 ], and computer graphics [ 4 , 5 ], among others [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Static Attitude Determination Using Convolutional Neural Networks

Santos

Seman

Bezerra

et al. 2021

Sensors

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The need to estimate the orientation between frames of reference is crucial in spacecraft navigation. Robust algorithms for this type of problem have been built by following algebraic approaches, but data-driven solutions are becoming more appealing due to their stochastic nature. Hence, an approach based on convolutional neural networks in order to deal with measurement uncertainty in static attitude determination problems is proposed in this paper. PointNet models were trained with different datasets containing different numbers of observation vectors that were used to build attitude profile matrices, which were the inputs of the system. The uncertainty of measurements in the test scenarios was taken into consideration when choosing the best model. The proposed model, which used convolutional neural networks, proved to be less sensitive to higher noise than traditional algorithms, such as singular value decomposition (SVD), the q-method, the quaternion estimator (QUEST), and the second estimator of the optimal quaternion (ESOQ2).

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A Machine Learning Framework for Inter-frame Prediction for Effective Motion Estimation

Veena¹,

Rao²

2021

Software Engineering and Algorithms

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Efficient Ego-Motion Estimation for Multi-Camera Systems With Decoupled Rotation and Translation

Cited by 5 publications

References 27 publications

A Generalized 2-Point Solution for Absolute Camera Pose With Known Rotation Axis

A Generalized 2-Point Solution for Absolute Camera Pose With Known Rotation Axis

Static Attitude Determination Using Convolutional Neural Networks

A Machine Learning Framework for Inter-frame Prediction for Effective Motion Estimation

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