论文标题
使用仿射对应关系计算广义相对姿势的最小情况
Minimal Cases for Computing the Generalized Relative Pose using Affine Correspondences
论文作者
论文摘要
我们提出了三个新的求解器，用于估计仿射对应关系（ACS）中多相机系统的相对姿势。一个新约束，以解释ACS和广义相机模型的关系。使用约束，我们为假定的两种动作演示了有效的求解器。考虑到相机经历平面运动，我们提出了使用单个AC和一个带有两个AC的求解器来克服退化情况的最小溶液。同样，我们提出了一个最小的溶液，使用两个具有已知垂直方向的AC，例如来自IMU。由于所提出的方法比最新算法所需的对应关系要少得多，因此可以在RANSAC中有效地使用它们，以进行外部删除和初始运动估计。在合成数据和Kitti Odometry基准测试中，对求解器进行了测试。结果表明，估计姿势的准确性优于最新技术。
We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the constraint, we demonstrate efficient solvers for two types of motions assumed. Considering that the cameras undergo planar motion, we propose a minimal solution using a single AC and a solver with two ACs to overcome the degenerate case. Also, we propose a minimal solution using two ACs with known vertical direction, e.g., from an IMU. Since the proposed methods require significantly fewer correspondences than state-of-the-art algorithms, they can be efficiently used within RANSAC for outlier removal and initial motion estimation. The solvers are tested both on synthetic data and on real-world scenes from the KITTI odometry benchmark. It is shown that the accuracy of the estimated poses is superior to the state-of-the-art techniques.
