Robust Camera Pose Estimation from Line Correspondences Using GNC
A solution to the Perspective-n-Lines (PnL) problem is proposed where a large fraction of outliers can be handled. The approach estimates camera pose from 2D-3D line correspondences where outliers are in the form of line mismatches. The solution is based on graduated non-convexity (GNC) with truncat...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
2024-10-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2024/MIC-2024-4-3.pdf |
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| author | Hans K.R. Holen Torbjørn Smith Olav Egeland |
| author_facet | Hans K.R. Holen Torbjørn Smith Olav Egeland |
| author_sort | Hans K.R. Holen |
| collection | DOAJ |
| description | A solution to the Perspective-n-Lines (PnL) problem is proposed where a large fraction of outliers can be handled. The approach estimates camera pose from 2D-3D line correspondences where outliers are in the form of line mismatches. The solution is based on graduated non-convexity (GNC) with truncated least squares with Dynamical Pose Estimation (DAMP) as a solver. The solution is simple to implement and does not require specialized optimization software. The method is compared to 11 state-of-the-art PnL methods using synthetic and real data and evaluated in terms of accuracy, running time, and sensitivity to noise and outliers. The results show that our proposed method scores among the top for accuracy and robustness. |
| format | Article |
| id | doaj-art-53bc44b30b4b4f5daddc99fc9168a5d7 |
| institution | Kabale University |
| issn | 0332-7353 1890-1328 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj-art-53bc44b30b4b4f5daddc99fc9168a5d72025-02-03T13:56:52ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13282024-10-0145413714610.4173/mic.2024.4.3Robust Camera Pose Estimation from Line Correspondences Using GNCHans K.R. HolenTorbjørn SmithOlav EgelandA solution to the Perspective-n-Lines (PnL) problem is proposed where a large fraction of outliers can be handled. The approach estimates camera pose from 2D-3D line correspondences where outliers are in the form of line mismatches. The solution is based on graduated non-convexity (GNC) with truncated least squares with Dynamical Pose Estimation (DAMP) as a solver. The solution is simple to implement and does not require specialized optimization software. The method is compared to 11 state-of-the-art PnL methods using synthetic and real data and evaluated in terms of accuracy, running time, and sensitivity to noise and outliers. The results show that our proposed method scores among the top for accuracy and robustness.http://www.mic-journal.no/PDF/2024/MIC-2024-4-3.pdfpnlpnpcamera pose estimationdynamical pose estimationgnc |
| spellingShingle | Hans K.R. Holen Torbjørn Smith Olav Egeland Robust Camera Pose Estimation from Line Correspondences Using GNC Modeling, Identification and Control pnl pnp camera pose estimation dynamical pose estimation gnc |
| title | Robust Camera Pose Estimation from Line Correspondences Using GNC |
| title_full | Robust Camera Pose Estimation from Line Correspondences Using GNC |
| title_fullStr | Robust Camera Pose Estimation from Line Correspondences Using GNC |
| title_full_unstemmed | Robust Camera Pose Estimation from Line Correspondences Using GNC |
| title_short | Robust Camera Pose Estimation from Line Correspondences Using GNC |
| title_sort | robust camera pose estimation from line correspondences using gnc |
| topic | pnl pnp camera pose estimation dynamical pose estimation gnc |
| url | http://www.mic-journal.no/PDF/2024/MIC-2024-4-3.pdf |
| work_keys_str_mv | AT hanskrholen robustcameraposeestimationfromlinecorrespondencesusinggnc AT torbjørnsmith robustcameraposeestimationfromlinecorrespondencesusinggnc AT olavegeland robustcameraposeestimationfromlinecorrespondencesusinggnc |