An Iterative Pose Estimation Algorithm Based on Epipolar Geometry With Application to Multi-Target Tracking
文献类型：期刊论文
| 作者 | Jacob H. White; Randal W. Beard |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:4页码:942-953 |
| 关键词 | Aerial robotics epipolar geometry multi-target tracking pose estimation unmanned aircraft systems vision-based flight |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003222 |
| 英文摘要 | This paper introduces a new algorithm for estimating the relative pose of a moving camera using consecutive frames of a video sequence. State-of-the-art algorithms for calculating the relative pose between two images use matching features to estimate the essential matrix. The essential matrix is then decomposed into the relative rotation and normalized translation between frames. To be robust to noise and feature match outliers, these methods generate a large number of essential matrix hypotheses from randomly selected minimal subsets of feature pairs, and then score these hypotheses on all feature pairs. Alternatively, the algorithm introduced in this paper calculates relative pose hypotheses by directly optimizing the rotation and normalized translation between frames, rather than calculating the essential matrix and then performing the decomposition. The resulting algorithm improves computation time by an order of magnitude. If an inertial measurement unit (IMU) is available, it is used to seed the optimizer, and in addition, we reuse the best hypothesis at each iteration to seed the optimizer thereby reducing the number of relative pose hypotheses that must be generated and scored. These advantages greatly speed up performance and enable the algorithm to run in real-time on low cost embedded hardware. We show application of our algorithm to visual multi-target tracking (MTT) in the presence of parallax and demonstrate its real-time performance on a 640 × 480 video sequence captured on a UAV. Video results are available at https://youtu.be/HhK-p2hXNnU. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43003]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Jacob H. White,Randal W. Beard. An Iterative Pose Estimation Algorithm Based on Epipolar Geometry With Application to Multi-Target Tracking[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(4):942-953. |
| APA | Jacob H. White,&Randal W. Beard.(2020).An Iterative Pose Estimation Algorithm Based on Epipolar Geometry With Application to Multi-Target Tracking.IEEE/CAA Journal of Automatica Sinica,7(4),942-953. |
| MLA | Jacob H. White,et al."An Iterative Pose Estimation Algorithm Based on Epipolar Geometry With Application to Multi-Target Tracking".IEEE/CAA Journal of Automatica Sinica 7.4(2020):942-953. |
入库方式： OAI收割
来源：自动化研究所
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