PoseGravity: Pose Estimation from Points and Lines with Axis Prior

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection poin...

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Bibliographic Details
Published inarXiv.org
Main Author Chandrasekhar, Akshay
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 16.09.2024
Subjects
Algorithms
Cameras
Configurations
Hyperbolas
Pose estimation
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Summary:This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection points of a hyperbola and the unit circle. The solution can flexibly accommodate combinations of point and line features in minimal and overconstrained configurations. In addition, the two special cases of planar and minimal configurations are identified to yield simpler closed-form solutions. Extensive experiments validate the approach.
ISSN:2331-8422