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Efficient 6-DoF camera pose tracking with circular edges

文献类型：期刊论文

作者Tang, Fulin1; Wu, Shaohuan2; Qian, Zhengda1,3; Wu, Yihong1,3
刊名COMPUTER VISION AND IMAGE UNDERSTANDING
出版日期2023-10-01
卷号235页码:9
关键词Camera pose tracking Projective invariance Circular edges
ISSN号1077-3142
DOI10.1016/j.cviu.2023.103767
通讯作者Wu, Yihong(yhwu@nlpr.ia.ac.cn)
英文摘要Camera pose tracking attracts much interest from both academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most existing methods need to identify multiple points in the marker images for matching to space points. Then, PnP methods are used to compute the camera poses. If cameras move fast or are far away from the markers, the matching is easy to generate errors. To address these problems, we design circular markers and represent 6D camera pose analytically as concise forms from each marker by projective invariance. Afterwards, the pose is further optimized by a cost function based on a polar-n-direction geometric distance. The proposed method is from imaged circular edges, which makes camera pose tracking more robust to noise, blur and distance from camera to marker than existing methods. Extensive experimental results show that the proposed 6-DoF camera pose tracking method outperforms state-of-the-art methods in terms of noise, blur, and distance from camera to marker. Simultaneously, it efficiently runs at about 100 FPS on a consumer computer.
WOS关键词QUASI-AFFINE INVARIANCE ; MARKER ; SLAM ; LOCALIZATION ; CALIBRATION ; ACCURATE ; ROBUST
资助项目National Key Ramp;D Program of China[2022YFB3303203] ; National Natural Sci-ence Foundation of China[62202468] ; National Natural Sci-ence Foundation of China[62002359]
WOS研究方向Computer Science ; Engineering
语种英语
WOS记录号WOS:001044212600001
出版者ACADEMIC PRESS INC ELSEVIER SCIENCE
资助机构National Key Ramp;D Program of China ; National Natural Sci-ence Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/53870]  
专题多模态人工智能系统全国重点实验室
通讯作者Wu, Yihong
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing, Peoples R China
2.Shandong Univ, Sch Math & Stat, Jinan, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Tang, Fulin,Wu, Shaohuan,Qian, Zhengda,et al. Efficient 6-DoF camera pose tracking with circular edges[J]. COMPUTER VISION AND IMAGE UNDERSTANDING,2023,235:9.
APA Tang, Fulin,Wu, Shaohuan,Qian, Zhengda,&Wu, Yihong.(2023).Efficient 6-DoF camera pose tracking with circular edges.COMPUTER VISION AND IMAGE UNDERSTANDING,235,9.
MLA Tang, Fulin,et al."Efficient 6-DoF camera pose tracking with circular edges".COMPUTER VISION AND IMAGE UNDERSTANDING 235(2023):9.

入库方式： OAI收割

来源：自动化研究所

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