论文标题
从临时相机网络重建3D飞行轨迹
Reconstruction of 3D flight trajectories from ad-hoc camera networks
论文作者
论文摘要
我们提出了一种方法，仅从带有不同步的相机录制的视频中重建空降机器人系统的3D轨迹，可能具有滚动快门失真，其观点是未知的。我们的方法可以采用便宜且易于部署的设备，可动态飞行目标进行强大而准确的外部跟踪。我们表明，尽管存在弱限制的设置，但计算机视觉的最新发展使得可以从不同步的，未校准的消费者摄像机网络中重建3D中的轨迹，并在现实的现场实验中验证所提出的方法。我们将代码与数据一起提供，包括来自Dinialial GNSS导航的CM精确的地面真相。
We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach enables robust and accurate outside-in tracking of dynamically flying targets, with cheap and easy-to-deploy equipment. We show that, in spite of the weakly constrained setting, recent developments in computer vision make it possible to reconstruct trajectories in 3D from unsynchronized, uncalibrated networks of consumer cameras, and validate the proposed method in a realistic field experiment. We make our code available along with the data, including cm-accurate ground-truth from differential GNSS navigation.
