Guided Sparse Camera Pose Estimation
نویسندگان
چکیده
In this paper, we present an idea for a sparse approach to calculate camera poses from RGB images and laser distance measurements to perform subsequent facade reconstruction. The core idea is to guide the image recording process by choosing distinctive features with the laser range finder, e.g. building or window corners. From these distinctive features, we can establish correspondences between views to compute metrically accurate camera poses from just a few precise measurements. In our experiments, we achieve reasonable results in building facade reconstruction with only a fraction of features compared to standard structure from motion.
منابع مشابه
Camera Pose Estimation in Unknown Environments using a Sequence of Wide-Baseline Monocular Images
In this paper, a feature-based technique for the camera pose estimation in a sequence of wide-baseline images has been proposed. Camera pose estimation is an important issue in many computer vision and robotics applications, such as, augmented reality and visual SLAM. The proposed method can track captured images taken by hand-held camera in room-sized workspaces with maximum scene depth of 3-4...
متن کاملCalibration of an Outdoor Active Camera System
A parametric camera model and calibration procedures are developed for an outdoor active camera system with pan, tilt and zoom control. Unlike traditional methods, active camera motion plays a key role in the calibration process, and no special laboratory setups are required. Intrinsic parameters are estimated automatically by fitting parametric models to the optic flow induced by rotating and ...
متن کاملExploiting Random RGB and Sparse Features for Camera Pose Estimation
We address the problem of estimating camera pose relative to a known scene, given a single RGB image. We extend recent advances in scene coordinate regression forests for camera relocalization in RGB-D images to use RGB features, enabling camera relocalization from a single RGB image. Furthermore, we integrate random RGB features and sparse feature matching in an efficient and accurate way, bro...
متن کاملModel-Assisted 3D Face Reconstruction from Video
This paper describes a model-assisted system for reconstruction of 3D faces from a single consumer quality camera using a structure from motion approach. Typical multi-view stereo approaches use the motion of a sparse set of features to compute camera pose followed by a dense matching step to compute the final object structure. Accurate pose estimation depends upon precise identification and ma...
متن کاملEnhancement Strategies for Frame-to-frame Uas Stereo Visual Odometry
Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements. Navigation based on inertial measurement units (IMU) is known to be affected by high drift rates. The incorporation of cameras provides complementary information due to the different underlying measurement principle. The scale ambiguity problem for mono...
متن کامل