论文标题
电子图：具有可扩展性图的刚性旋转的最小解决方案
E-Graph: Minimal Solution for Rigid Rotation with Extensibility Graphs
论文作者
论文摘要
在不同情况下，已经探索了相对旋转和翻译估计任务的最小解决方案，通常依赖于所谓的共同可见度图。但是，如何在没有重叠的两个框架之间建立直接旋转关系仍然是一个公开主题，如果解决了，它可以大大提高视觉尾声的准确性。 在本文中，提出了一种新的最小解决方案，以通过利用新的图形结构来求解两个图像之间没有重叠区域之间的相对旋转估计，我们称之为扩展性图（e-graph）。与共同可见度图不同的是，高级地标（包括消失的方向和平面正态）存储在我们的电子图表中，这些图形在几何上可扩展。基于电子图表，旋转估计问题变得更简单，更优雅，因为它可以处理纯粹的旋转运动，并且需要更少的假设，例如曼哈顿/亚特兰大世界，平面/垂直运动。最后，我们将旋转估计策略嵌入到完整的相机跟踪和映射系统中，该系统获得了6-DOF相机姿势和密集的3D网格模型。 对公共基准测试的广泛实验表明，所提出的方法可实现最新的跟踪性能。
Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two frames without overlap is still an open topic, which, if solved, could greatly improve the accuracy of visual odometry. In this paper, a new minimal solution is proposed to solve relative rotation estimation between two images without overlapping areas by exploiting a new graph structure, which we call Extensibility Graph (E-Graph). Differently from a co-visibility graph, high-level landmarks, including vanishing directions and plane normals, are stored in our E-Graph, which are geometrically extensible. Based on E-Graph, the rotation estimation problem becomes simpler and more elegant, as it can deal with pure rotational motion and requires fewer assumptions, e.g. Manhattan/Atlanta World, planar/vertical motion. Finally, we embed our rotation estimation strategy into a complete camera tracking and mapping system which obtains 6-DoF camera poses and a dense 3D mesh model. Extensive experiments on public benchmarks demonstrate that the proposed method achieves state-of-the-art tracking performance.
