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Communication Dans Un Congrès Année : 2022

Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction

Résumé

In this paper, we present a relative pose estimation algorithm based on lines knowing the vertical direction associated to each image. We demonstrate that a closed-form solution requiring only eight lines between three views is possible. As a linear solution, it is shown that our approach outperforms the standard trifocal estimation based on 13 triplets of lines and can be efficiently inserted into an hypothesize-and-test framework such as RANSAC. We also study our approach on different singular configurations of lines. The method is evaluated on both synthetic data and real-world sequences from KITTI and the Zurich Urban Micro Aerial Vehicle datasets. Our method is compared to 13 lines algorithm as well to points based methods such as 7-points, 5-points and 3-points.
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Dates et versions

hal-03740817 , version 1 (30-07-2022)

Identifiants

Citer

Banglei Guan, Pascal Vasseur, Cédric Demonceaux. Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981481⟩. ⟨hal-03740817⟩
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