Tao Li;Zhenbao Yu;Banglei Guan;Jianli Han;Weimin Lv;Friedrich Fraundorfer
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引用次数: 0
Abstract
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely used in autonomous vehicles, mobile phones, and autonomous aerial vehicles (AAVs). Given the known vertical directions, our algorithms only need to solve for two rotation angles and two translation vectors. In this paper, a linear closed-form solution has been described, requiring only four point correspondences in three views. We also propose a minimal solution with three point correspondences using the latest Gröbner basis solver. Since the proposed methods require fewer point correspondences, they can be efficiently applied within the RANSAC framework for outliers removal and pose estimation in visual odometry. The proposed method has been tested on both synthetic data and real-world scenes from KITTI. The experimental results show that the accuracy of the estimated poses is superior to other alternative methods.
期刊介绍:
The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.