Zhichao Cui , Zeqi Chen , Chi Zhang , Gaofeng Meng , Yuehu Liu , Xiangmo Zhao
{"title":"DDGPnP:处理异常值的基于差分度图的 PnP 解决方案","authors":"Zhichao Cui , Zeqi Chen , Chi Zhang , Gaofeng Meng , Yuehu Liu , Xiangmo Zhao","doi":"10.1016/j.cviu.2024.104130","DOIUrl":null,"url":null,"abstract":"<div><p>Existing external relationships for outlier removal in the perspective-n-point problem are generally spatial coherence among the neighbor correspondences. In the situation of high noise or spatially incoherent distributions, pose estimation is relatively inaccurate due to a small number of detected inliers. To address these problems, this paper explores the globally coherent external relationships for outlier removal and pose estimation. To this end, the differential degree graph (DDG) is proposed to employ the intersection angles between rays of correspondences to handle outliers. Firstly, a pair of two degree graphs are constructed to establish the external relationships between 3D-2D correspondences in the world and camera coordinates. Secondly, the DDG is estimated through subtracting the two degree graphs and operating binary operation with a degree threshold. Besides, this paper mathematically proves that the maximum clique of the DDG represents the inliers. Thirdly, a novel vertice degree based method is put forward to extract the maximum clique from DDG for outlier removal. Besides, this paper proposes a novel pipeline of DDG based PnP solution, i.e. DDGPnP, to achieve accurate pose estimation. Experiments demonstrate the superiority and effectiveness of the proposed method in the aspects of outlier removal and pose estimation by comparison with the state of the arts. Especially for the high noise situation, the DDGPnP method can achieve not only accurate pose but also a large number of correct correspondences.</p></div>","PeriodicalId":50633,"journal":{"name":"Computer Vision and Image Understanding","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"DDGPnP: Differential degree graph based PnP solution to handle outliers\",\"authors\":\"Zhichao Cui , Zeqi Chen , Chi Zhang , Gaofeng Meng , Yuehu Liu , Xiangmo Zhao\",\"doi\":\"10.1016/j.cviu.2024.104130\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Existing external relationships for outlier removal in the perspective-n-point problem are generally spatial coherence among the neighbor correspondences. In the situation of high noise or spatially incoherent distributions, pose estimation is relatively inaccurate due to a small number of detected inliers. To address these problems, this paper explores the globally coherent external relationships for outlier removal and pose estimation. To this end, the differential degree graph (DDG) is proposed to employ the intersection angles between rays of correspondences to handle outliers. Firstly, a pair of two degree graphs are constructed to establish the external relationships between 3D-2D correspondences in the world and camera coordinates. Secondly, the DDG is estimated through subtracting the two degree graphs and operating binary operation with a degree threshold. Besides, this paper mathematically proves that the maximum clique of the DDG represents the inliers. Thirdly, a novel vertice degree based method is put forward to extract the maximum clique from DDG for outlier removal. Besides, this paper proposes a novel pipeline of DDG based PnP solution, i.e. DDGPnP, to achieve accurate pose estimation. Experiments demonstrate the superiority and effectiveness of the proposed method in the aspects of outlier removal and pose estimation by comparison with the state of the arts. Especially for the high noise situation, the DDGPnP method can achieve not only accurate pose but also a large number of correct correspondences.</p></div>\",\"PeriodicalId\":50633,\"journal\":{\"name\":\"Computer Vision and Image Understanding\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Computer Vision and Image Understanding\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S107731422400211X\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computer Vision and Image Understanding","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S107731422400211X","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
DDGPnP: Differential degree graph based PnP solution to handle outliers
Existing external relationships for outlier removal in the perspective-n-point problem are generally spatial coherence among the neighbor correspondences. In the situation of high noise or spatially incoherent distributions, pose estimation is relatively inaccurate due to a small number of detected inliers. To address these problems, this paper explores the globally coherent external relationships for outlier removal and pose estimation. To this end, the differential degree graph (DDG) is proposed to employ the intersection angles between rays of correspondences to handle outliers. Firstly, a pair of two degree graphs are constructed to establish the external relationships between 3D-2D correspondences in the world and camera coordinates. Secondly, the DDG is estimated through subtracting the two degree graphs and operating binary operation with a degree threshold. Besides, this paper mathematically proves that the maximum clique of the DDG represents the inliers. Thirdly, a novel vertice degree based method is put forward to extract the maximum clique from DDG for outlier removal. Besides, this paper proposes a novel pipeline of DDG based PnP solution, i.e. DDGPnP, to achieve accurate pose estimation. Experiments demonstrate the superiority and effectiveness of the proposed method in the aspects of outlier removal and pose estimation by comparison with the state of the arts. Especially for the high noise situation, the DDGPnP method can achieve not only accurate pose but also a large number of correct correspondences.
期刊介绍:
The central focus of this journal is the computer analysis of pictorial information. Computer Vision and Image Understanding publishes papers covering all aspects of image analysis from the low-level, iconic processes of early vision to the high-level, symbolic processes of recognition and interpretation. A wide range of topics in the image understanding area is covered, including papers offering insights that differ from predominant views.
Research Areas Include:
• Theory
• Early vision
• Data structures and representations
• Shape
• Range
• Motion
• Matching and recognition
• Architecture and languages
• Vision systems