论文标题
通过水平和垂直平面对车辆安装相机的姿势估计
Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes
论文作者
论文摘要
我们提出了两个新颖的求解器，以估计通过恢复特殊同型同谱从单个仿射信函安装在移动车辆上的校准摄像头的自我观念。对于第一类求解器，预计寻求的平面将垂直于其中一个相机轴。对于第二类，飞机以未知的正常状态与地面正交，例如，它是建筑物的立面。两种方法均通过具有小系数矩阵的线性系统求解，因此非常有效。最小和过度确定的情况都可以通过提出的方法来解决。它们在合成数据和公开可用的现实世界数据集上进行了测试。新颖的方法更准确或与传统算法相当，并且在最先进的估计器中包含时更快。
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the second class, the plane is orthogonal to the ground with unknown normal, e.g., it is a building facade. Both methods are solved via a linear system with a small coefficient matrix, thus, being extremely efficient. Both the minimal and over-determined cases can be solved by the proposed methods. They are tested on synthetic data and on publicly available real-world datasets. The novel methods are more accurate or comparable to the traditional algorithms and are faster when included in state of the art robust estimators.
