Algebraic Error Based Triangulation and Metric of Lines

	Algebraic Error Based Triangulation and Metric of Lines
	Wu, Fuchao1 ; Zhang, Ming1 ; Wang, Guanghui 2; Hu, Zhanyi1
发表期刊	PLOS ONE
	2015-07-28
卷号	10 期号:7 页码:1-27
文章类型	Article
摘要	Line triangulation, a classical geometric problem in computer vision, is to determine the 3D coordinates of a line based on its 2D image projections from more than two views of cameras with known projection matrices. Compared to point features, line segments are more robust to matching errors, occlusions, and image uncertainties. In addition to line triangulation, a better metric is needed to evaluate 3D errors of line triangulation. In this paper, the line triangulation problem is investigated by using the Lagrange multipliers theory. The main contributions include: (i) Based on the Lagrange multipliers theory, a formula to compute the Plucker correction is provided, and from the formula, a new linear algorithm, LINa, is proposed for line triangulation; (ii) two optimal algorithms, OPTa-I and OPTa-II, are proposed by minimizing the algebraic error; and (iii) two metrics on 3D line space, the orthogonal metric and the quasi-Riemannian metric, are introduced for the evaluation of line triangulations. Extensive experiments on synthetic data and real images are carried out to validate and demonstrate the effectiveness of the proposed algorithms.
关键词	Lines Triangulation Algebraic Error
WOS标题词	Science & Technology
学科领域	第一研究方向
关键词[WOS]	CAMERA
收录类别	SCI
语种	英语
WOS研究方向	Science & Technology - Other Topics
WOS类目	Multidisciplinary Sciences
WOS记录号	WOS:000358595900007
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/8889
专题	多模态人工智能系统全国重点实验室_机器人视觉
作者单位	1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 2.Univ Kansas, Dept Elect Engn & Comp Sci, Lawrence, KS 66045 USA
第一作者单位	模式识别国家重点实验室
推荐引用方式 GB/T 7714	Wu, Fuchao,Zhang, Ming,Wang, Guanghui,et al. Algebraic Error Based Triangulation and Metric of Lines[J]. PLOS ONE,2015,10(7):1-27.
APA	Wu, Fuchao,Zhang, Ming,Wang, Guanghui,&Hu, Zhanyi.(2015).Algebraic Error Based Triangulation and Metric of Lines.PLOS ONE,10(7),1-27.
MLA	Wu, Fuchao,et al."Algebraic Error Based Triangulation and Metric of Lines".PLOS ONE 10.7(2015):1-27.

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