Linear solution to the minimal absolute pose rolling shutter problem
Linear solution to the minimal absolute pose rolling shutter problem
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DOI：
10.1007/978-3-030-20893-6_17
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发表时间：
2018-12
期刊：
影响因子：
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通讯作者：
Z. Kukelova;Cenek Albl;A. Sugimoto;T. Pajdla
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文献类型：
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作者：
Z. Kukelova;Cenek Albl;A. Sugimoto;T. Pajdla
针对卷帘式快门相机的绝对位姿问题，提出了一种新的有效解决方案。与最先进的多项式求解器不同，我们在迭代方案中使用简单而快速的线性求解器来解决问题。我们提出了几种基于固定不同变量集的解决方案，并对它们的性能进行了深入的研究。我们设计了一种新的交替策略，通过只固定非线性项来线性估计每次迭代中的所有参数。我们最好的6点解算器，基于新的交替技术，显示出与最先进的R6P解算器相同甚至更好的性能，并且速度快两个数量级。此外，提出了一种线性非迭代求解器，它需要非最小数量的9个对应，但提供了比最先进的R6P更好的结果。此外，所有建议的线性求解器都提供单一解决方案，而最先进的R6P提供多达20个解决方案，这些解决方案必须通过昂贵的验证进行修剪。
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present several solutions based on fixing different sets of variables and investigate the performance of them thoroughly. We design a new alternation strategy that estimates all parameters in each iteration linearly by fixing just the non-linear terms. Our best 6-point solver, based on the new alternation technique, shows an identical or even better performance than the state-of-the-art R6P solver and is two orders of magnitude faster. In addition, a linear non-iterative solver is presented that requires a non-minimal number of 9 correspondences but provides even better results than the state-of-the-art R6P. Moreover, all proposed linear solvers provide a single solution while the state-of-the-art R6P provides up to 20 solutions which have to be pruned by expensive verification.