A Fully Projective Formulation to Improve the Accuracy of Lowe's Pose-Estimation Algorithm
نویسندگان
چکیده
Both the original version of David Lowe's innuential and classic algorithm for tracking known objects and a reformulation of it implemented by Ishii et al. rely on (diierent) approximated imaging models. Removing their simplifying assumptions yields a fully pro-jective solution with signiicantly improved accuracy and convergence, and arguably better computation{ time properties.
منابع مشابه
Numerical Methods for Model { Based PoseRecovery
In this paper we review and compare several techniques for model{based pose recovery (ex-trinsic camera calibration) from monocular images. We classify the solutions reported in the literature as analytical perspective, aane and numerical perspective. We also present reformulations for two of the most important numerical perspective solutions: Lowe's algorithm and Phong{Horaud's algorithm. Our ...
متن کاملAdaptation of Lowe's camera pose recovery algorithm to mobile robot self-localisation
This paper presents an adaptation of Lowe's numerical model-based camera localisation algorithm to the domain of indoor mobile robotics. While the original method is straightforward and even elegant, it nonetheless exhibits certain weaknesses. First, due to an affine approximation, the method is not consistent with perspective projection especially when the dimensions of objects seen are large ...
متن کاملCamera Pose Estimation in Unknown Environments using a Sequence of Wide-Baseline Monocular Images
In this paper, a feature-based technique for the camera pose estimation in a sequence of wide-baseline images has been proposed. Camera pose estimation is an important issue in many computer vision and robotics applications, such as, augmented reality and visual SLAM. The proposed method can track captured images taken by hand-held camera in room-sized workspaces with maximum scene depth of 3-4...
متن کاملSilhouette-based 2D-3D Pose Estimation Using Algebraic Surfaces
In this contribution we present a formulation of the 2D3D pose estimation problem using implicit algebraic surfaces. To model the projective mapping, we apply novel Dixon resultant heuristics to deal with the rapidly increasing polynomial degrees of projected image outlines. The advantages as well as disadvantages of using linearised twist coordinates for pose representation are also discussed....
متن کاملReal-time 3D Pose Estimation Using Photogrammetry and Laser Based Geometrical Target Tracking for Autonomous Operation
Permission is granted to quote short excerpts and to reproduce figures and tables from this report, provided that the source of such material is fully acknowledged. Abstract. In this paper, we show that a 3D laser scanner tracking system can be efficiently used in a projective mode similar to photogrammetry-based methods. The best of both laser ranging and photogrammetry can be combined to incr...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Computer Vision and Image Understanding
دوره 70 شماره
صفحات -
تاریخ انتشار 1998