CASIA OpenIR  > 模式识别国家重点实验室  > 机器人视觉
Algebraic Error Based Triangulation and Metric of Lines
Wu, Fuchao1; Zhang, Ming1; Wang, Guanghui2; Hu, Zhanyi1
Source PublicationPLOS ONE
AbstractLine 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.
KeywordLines Triangulation Algebraic Error
WOS HeadingsScience & Technology
Subject Area第一研究方向
Indexed BySCI
WOS Research AreaScience & Technology - Other Topics
WOS SubjectMultidisciplinary Sciences
WOS IDWOS:000358595900007
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Document Type期刊论文
Affiliation1.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
Recommended Citation
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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