Trifocal Relative Pose From Lines at Points
Trifocal Relative Pose From Lines at Points
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DOI：
10.1109/tpami.2022.3226165
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发表时间：
2019-03
影响因子：
23.6
通讯作者：
R. Fabbri;Timothy Duff;Hongyi Fan;Margaret H. Regan;David da Costa de Pinho;Elias P. Tsigaridas;C. W
中科院分区：
文献类型：
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作者：
R. Fabbri;Timothy Duff;Hongyi Fan;Margaret H. Regan;David da Costa de Pinho;Elias P. Tsigaridas;C. W
本文提出了一种基于(i)三点一条线的三视图对应关系和（ii）三点两条线通过两点的三视图对应关系的三视图相对相机姿态估计的两个最小问题的解决方法。这些问题很难用现有的Gröbner基方法有效地解决。我们的方法是基于一个新的高效的HC求解框架MINUS，它通过将HC方法专门用于我们问题的一般情况，大大加快了以前的HC求解速度。我们描述了它们的解的数量，并通过模拟实验表明，我们的求解器在图像噪声下具有数值鲁棒性和稳定性，这是考虑到三维约束的非线性的临界难处理程度的关键贡献。我们在实际实验中表明：(i)筛选特征位置和方向为三视图重建提供了足够好的点和线对应关系；（ii）我们可以解决尝试匹配太少或太嘈杂的困难情况，其中运动初始化的最先进结构状态失败。
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of (i) three points and one line and the novel case of (ii) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Gröbner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing hc methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that (i) sift feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and (ii) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails.