Worldwide Pose Estimation Using 3D Point Clouds
نویسندگان
چکیده
We address the problem of determining where a photo was taken by estimating a full 6-DOF-plus-intrincs camera pose with respect to a large geo-registered 3D point cloud, bringing together research on image localization, landmark recognition, and 3D pose estimation. Our method scales to datasets with hundreds of thousands of images and tens of millions of 3D points through the use of two new techniques: a co-occurrence prior for RANSAC and bidirectional matching of image features with 3D points. We evaluate our method on several large data sets, and show state-of-the-art results on landmark recognition as well as the ability to locate cameras to within meters, requiring only seconds per query.
منابع مشابه
Robust Large-Scale Localization in 3D Point Clouds Revisited
We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. “Worldwide Pose Estimation using 3D Point Cloud” [1]. Our code computes poses from 3 or 4 points, with both known and unknown focal length. The results can easily be displayed and analyzed with Meshlab. We found bot...
متن کامل3D Detection of Power-Transmission Lines in Point Clouds Using Random Forest Method
Inspection of power transmission lines using classic experts based methods suffers from disadvantages such as highel level of time and money consumption. Advent of UAVs and their application in aerial data gathering help to decrease the time and cost promenantly. The purpose of this research is to present an efficient automated method for inspection of power transmission lines based on point c...
متن کامل3D Pose Estimation of Objects Using a Graph Based Approach
This thesis deals with the 3D pose estimation problem for rigid objects. Pose estimation means approximation of the six degrees of freedom of the pose of an object in consideration, i.e. the three rotation angles and the three translation components. Pose is always defined relative to a base frame. For example, we have a model object in its own reference frame. The goal of the pose estimation p...
متن کاملP2Pi: A Minimal Solution for Registration of 3D Points to 3D Planes
This paper presents a class of minimal solutions for the 3D-to-3D registration problem in which the sensor data are 3D points and the corresponding object data are 3D planes. In order to compare the 6 degrees-of-freedom transformation between the sensor and the object, we need at least six points on three or more planes. We systematically investigate and develop pose estimation algorithms for s...
متن کاملContinuous Surface-Point Distributions for 3D Object Pose Estimation and Recognition
We present a 3D, probabilistic object-surface model, along with mechanisms for probabilistically integrating unregistered 2.5D views into the model, and for segmenting model instances in cluttered scenes. The object representation is a probabilistic expression of object parts through smooth surface-point distributions obtained by kernel density estimation on 3D point clouds. A multi-part, viewp...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2012