论文标题
pl $ {} _ {1} $ p-在三个视图中部分可见性下的点线最小问题
PL${}_{1}$P -- Point-line Minimal Problems under Partial Visibility in Three Views
论文作者
论文摘要
我们提供了最小问题的完整分类，以通过三个校准的透视摄像机部分观察到的空间中的点和线的通用排列，当时每条线最多可入射。这是一大批有趣的最小问题，允许由于阻塞和遗漏检测而缺少图像中的观察结果。如此最小的问题有无限的数量。但是，我们证明它们可以通过删除多余的功能并重新标记相机将它们简化为140616等效类。我们还引入了摄像头最小问题，这些问题对于设计最小的求解器来说是实用的，并展示了如何为每个最小问题选择最简单的摄像头问题。这种简化导致74575等效类。其中只有76个是已知的；其余的都是新的。为了确定具有实际解决图像匹配和3D重建潜力的问题，我们提出了几个较小的摄像机最小问题的自然亚家族，以及计算所有相机最小问题的解决方案计数，这些摄像机最小问题少于300个用于通用数据的解决方案。
We present a complete classification of minimal problems for generic arrangements of points and lines in space observed partially by three calibrated perspective cameras when each line is incident to at most one point. This is a large class of interesting minimal problems that allows missing observations in images due to occlusions and missed detections. There is an infinite number of such minimal problems; however, we show that they can be reduced to 140616 equivalence classes by removing superfluous features and relabeling the cameras. We also introduce camera-minimal problems, which are practical for designing minimal solvers, and show how to pick a simplest camera-minimal problem for each minimal problem. This simplification results in 74575 equivalence classes. Only 76 of these were known; the rest are new. In order to identify problems that have potential for practical solving of image matching and 3D reconstruction, we present several smaller natural subfamilies of camera-minimal problems as well as compute solution counts for all camera-minimal problems which have less than 300 solutions for generic data.
