Performance evaluation of the five-point relative pose with emphasis on planar scenes1)
نویسندگان
چکیده
We consider performance evaluation of the state-of the-art solution for recovering the relative pose between two calibrated views. Our focus is on planar scenes which are not tractable by algorithms which do not enforce the so-called calibrated constraint. The capability to cope with planar scenes has therefore been stressed as an important advantage of the novel five-point algorithm. However, we show that for planar and nearly planar scenes there is a considerable degradation of the five-point algorithm performance under noise. This is especially the case for sidewise motion, for which substantially better motion hypotheses can be obtained by homography decomposition. The differences are even greater when more than five points are available, since the accuracy of the homography approach scales better. We also note that, contrary to the previous claims, the five point algorithm is not a method of choice even in non-planar overconstrained contexts, since the performance of the classical 8pt algorithm can be greatly improved by equilibration. Thus, the results imply that the five-point algorithm is the best option only for non-planar scenes in minimal cases (as a hypothesis generator in a RANSAC scheme). At the price of a perhaps acceptable performance deterioration, the five point algorithm could be used for planar scenes as well, but only for prevalently forward motion.
منابع مشابه
An analytic model of membrane humidifier for proton exchange membrane fuel cell
An essential requirement for an operating PEM fuel cell is providing proper water content in the membrane. To avoid water flooding an appropriate water balance is required. Here, an analytic model of a planar membrane humidifier for PEM fuel cell is proposed where the effect of dimensional parameters includes membrane thickness, membrane area and channel hydraulic diameter are investigated. A N...
متن کاملThe Planar two point algorithm
Vision-based localization, mapping and navigation is often performed by searching for corresponding image points and estimating the epipolar geometry. It is known that the possible relative poses of a camera mounted on a mobile robot that moves over a planar ground floor, has two degrees of freedom. This report provides insight in the problem of estimating the exact planar robot pose difference...
متن کاملA new hybrid method based on fuzzy Shannon’s Entropy and fuzzy COPRAS for CRM performance evaluation (Case: Mellat Bank)
Customer relationship management is a multiple perspective business paradigm which helps companies gaining competitive advantage through relationships with their customers. An integrated framework for evaluating CRM performance is an important issue which is not addressed completely in previous studies. The main purpose and the most important contribution of this study is introducing a framewor...
متن کاملRobustness of control point configurations for homography and planar pose estimation
In this paper, we investigate the influence of the spatial configuration of a number of n ≥ 4 control points on the accuracy and robustness of space resection methods, e.g. used by a fiducial marker for pose estimation. We find robust configurations of control points by minimizing the first order perturbed solution of the DLT algorithm which is equivalent to minimizing the condition number of t...
متن کامل