Stable Camera Motion Estimation Using Convex Programming
Stable Camera Motion Estimation Using Convex Programming
复制标题
使用凸规划进行稳定的相机运动估计
DOI：
10.1137/140977576
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
R. Basri
中科院分区：
文献类型：
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作者：
Onur Özyesil;A. Singer;R. Basri
我们研究了从连接它们的（无符号）成对线子集的噪声测量中估计$\mathbf{t}_1、\mathbf{t}_2、\ldots、\mathbf{t}_n$（达到全局尺度、平移和求反）中的$n$位置的逆问题，即 是，来自某些对 $(i,j)$ 的 $\pm \frac{\mathbf{t}_i - \mathbf{t}_j}{\|\mathbf{t}_i - \mathbf{t}_j \|_2}$ 的噪声测量（其中符号未知）。这个问题是计算机视觉中运动结构（SfM）问题的核心，其中 $\mathbf{t}_i$ 表示 $\mathbb{R}^3$ 中的相机位置。该问题的无噪声版本，具有精确的线测量，之前已在平行刚性理论的总标题下考虑过，主要是为了表征唯一实现位置的条件。对于嘈杂的成对线路测量，当前的方法往往会产生聚集在几个位置周围的虚假解决方案。这种位置估计的敏感性是众所周知的...
We study the inverse problem of estimating $n$ locations $\mathbf{t}_1, \mathbf{t}_2, \ldots, \mathbf{t}_n$ (up to global scale, translation, and negation) in $\mathbb{R}^d$ from noisy measurements of a subset of the (unsigned) pairwise lines that connect them, that is, from noisy measurements of $\pm \frac{\mathbf{t}_i - \mathbf{t}_j}{\|\mathbf{t}_i - \mathbf{t}_j \|_2}$ for some pairs $(i,j)$ (where the signs are unknown). This problem is at the core of the structure from motion (SfM) problem in computer vision, where the $\mathbf{t}_i$ represent camera locations in $\mathbb{R}^3$. The noiseless version of the problem, with exact line measurements, has been considered previously under the general title of parallel rigidity theory, mainly in order to characterize the conditions for unique realization of locations. For noisy pairwise line measurements, current methods tend to produce spurious solutions that are clustered around a few locations. This sensitivity of the location estimates is a well-known pr...