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Communication dans un congrès

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

Abstract : 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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Communication dans un congrès
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Contributeur : Cédric Demonceaux Connectez-vous pour contacter le contributeur
Soumis le : samedi 30 juillet 2022 - 10:08:18
Dernière modification le : mardi 16 août 2022 - 22:11:28


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  • HAL Id : hal-03740817, version 1


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. ⟨hal-03740817⟩



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