Image Geometry

International audienc

On Pose Recovery for Generalized Visual Sensors

[[sponsorship]]資訊科學研究所,資訊科技創新研究中心[[note]]已出版;[SCI];有審查制度;具代表性[[note]]http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=Drexel&SrcApp=hagerty_opac&KeyRecord=0162-8828&DestApp=JCR&RQ=IF_CAT_BOXPLO

Accepted by IEEE Transactions on Pattern Analysis and Machine Intelligence On Pose Recovery for Generalized Visual Sensors

With the advances in imaging technologies for robot or machine vision, new imaging devices are being developed for robot navigation or image-based rendering. However, to satisfy some design criterion, such as image resolution or viewing ranges, these devices are not necessarily being designed to follow the perspective rule, and thus the imaging rays may not pass through a common point. Such generalized imaging devices may not be perspective, and therefore their poses cannot be estimated with traditional techniques. In this paper, we propose a systematic method for pose estimation of such a generalized imaging device. We formulate it as a non-perspective n point (NPnP) problem. The case with exact solutions, n=3, is investigated comprehensively. Approximate solutions can be found for n>3 in a least-squared-error manner by combining an initial-pose-estimation procedure and an orthogonally iterative procedure. This proposed method can be applied not only to non-perspective imaging devices but also perspective ones. Results from experiments show that our approach can solve the NPnP problem accurately. Index Terms: Computer vision, camera pose estimation, generalized imaging device (GID), perspective n point problem (PnP), non-perspective n point problem (NPnP)