论文标题
从混合点对应关系中部分校准的半归因姿势
Partially calibrated semi-generalized pose from hybrid point correspondences
论文作者
论文摘要
在本文中，我们研究了估计部分校准摄像机的半将军姿势的问题，即，镜头摄像头的姿势具有未知的焦距W.R.T.从2D-2D和2D-3D点对应关系的混合动力组中进行的广义摄像机。我们在广义相机系统中研究所有可能的相机配置。为了将实用的求解器得出以前未解决的挑战配置，我们基于生成有效的多项式求解器的最新方法测试不同的参数化以及不同的解决策略。我们评估了三个最有前途的求解器，即具有五个2d-2d对应关系的H51F求解器，并通过相同的摄像机在广义相机内观看了一个2d-3d对应关系，H32F求解器，具有三个2d-2d和两个2D-3D对应关系的H32F求解器，以及具有一个2D-2D-2D和三个2D-2D和三个2D-3D对象的H13F求解器，并实用了同步，并实用了同步。我们表明，在3D点存在噪声的情况下，这些求解器提供了比相应的绝对姿势求解器更好的估计值。
In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on the state-of-the-art methods for generating efficient polynomial solvers. We evaluate the three most promising solvers, i.e., the H51f solver with five 2D-2D correspondences and one 2D-3D correspondence viewed by the same camera inside generalized camera, the H32f solver with three 2D-2D and two 2D-3D correspondences, and the H13f solver with one 2D-2D and three 2D-3D correspondences, on synthetic and real data. We show that in the presence of noise in the 3D points these solvers provide better estimates than the corresponding absolute pose solvers.
