Name
Title | ||
|---|---|---|
A 4-Point Algorithm For Relative Pose Estimation Of A Calibrated Camera With A Known Relative Rotation Angle |
Abstract | ||
|---|---|---|
We propose analgorithm to estimate the relative camera pose using four feature correspondences and one relative rotation angle measurement. The algorithm can be used for relative pose estimation of a rigid body equipped with a camera and a relative rotation angle sensor which can be either an odometer, an IMU or a GPS/INS system. This algorithm exploits the fact that the relative rotation angles of both the camera and relative rotation angle sensor are the same as the camera and sensor are rigidly mounted to a rigid body. Therefore, knowledge of the extrinsic calibration between the camera and sensor is not required. We carry out a quantitative comparison of our algorithm with the well-known 5-point and 1-point algorithms, and show that our algorithm exhibits the highest level of accuracy. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6696562 | 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Keywords | Field | DocType |
pose estimation,calibration | Computer vision,Computer science,Algorithm,Pose,Rigid body,Camera resectioning,Inertial measurement unit,Artificial intelligence,Assisted GPS,Calibration,Odometer | Conference |
ISSN | Citations | PageRank |
2153-0858 | 13 | 0.68 |
References | Authors | |
9 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bo Li | 1 | 172 | 9.79 |
| Lionel Heng | 2 | 309 | 17.39 |
| Lee Gim Hee | 3 | 372 | 31.21 |
| Marc Pollefeys | 4 | 7671 | 475.90 |