Knowledge Commons of Institute of Automation,CAS
Effective pose estimation from point pairs | |
Zhong, ZG; Yi, JQ![]() ![]() | |
发表期刊 | IMAGE AND VISION COMPUTING
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2005-07-01 | |
卷号 | 23期号:7页码:651-660 |
文章类型 | Article |
摘要 | This paper presents a new technique for depth and motion estimation from image sequence, aiming at the model-based pose estimation problem. The key of the proposed technique is a novel depth estimation approach. It can compute directly the depths of model points in consecutive camera coordinate systems according to geometric relationships between a camera and model point pairs instead of individual model point. Based on the proposed depth estimation method, two strategies are discussed to tackle three different cases of camera motion. Both strategies first compute depths, independent of motion parameters, from two images. The difference between them is two or three images are required to estimate efficiently the camera motion. If the camera only translates, two images are needed to compute directly the translation. The strategy requiring three images is mainly for the case that the camera translates with large rotation, which is difficult to be recovered accurately from two images. However, if the camera translates with small rotation, then the two strategies are applicable. The main contributions of this paper are the proposed point pairs based depth estimation method and three images based strategy to recover large rotational motion. The presented technique is simple and appealing. Extensive experiments are performed on synthetic data and real images to demonstrate its efficiency and robustness. (c) 2005 Elsevier B.V. All rights reserved. |
关键词 | Depth Estimations Motion Estimation Extrinsic Calibration Motion Vision |
WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
关键词[WOS] | 3-D MOTION ESTIMATION ; OPTICAL-FLOW ; PARAMETERS ; ALGORITHM ; STEREO ; ROBUST ; SCENE ; DEPTH |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Computer Science ; Engineering ; Optics |
WOS类目 | Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics |
WOS记录号 | WOS:000230147100004 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/9131 |
专题 | 09年以前成果 |
作者单位 | Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China |
推荐引用方式 GB/T 7714 | Zhong, ZG,Yi, JQ,Zhao, DB,et al. Effective pose estimation from point pairs[J]. IMAGE AND VISION COMPUTING,2005,23(7):651-660. |
APA | Zhong, ZG,Yi, JQ,Zhao, DB,&Hong, YP.(2005).Effective pose estimation from point pairs.IMAGE AND VISION COMPUTING,23(7),651-660. |
MLA | Zhong, ZG,et al."Effective pose estimation from point pairs".IMAGE AND VISION COMPUTING 23.7(2005):651-660. |
条目包含的文件 | 条目无相关文件。 |
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