The camera resection and the PnP problem are both of great importance in computer vision field. However, these two fundamentally different problems are often mistaken one another in the literature. In this short note,...The camera resection and the PnP problem are both of great importance in computer vision field. However, these two fundamentally different problems are often mistaken one another in the literature. In this short note, the essential differences of these two problems are clarified, and such a clarification seems helpful for those who are working on the problems.展开更多
目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性...目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性方程组,以此求解虚拟控制点的图像坐标及摄像机内参,再由POSIT(pose from orthography and scaling with iterations)算法根据虚拟控制点及其图像坐标求解旋转矩阵和平移向量。结果模拟数据实验和真实图像实验表明该算法时间复杂度和计算精度均优于现有的已标定摄像机位姿的高精度快速求解算法EPnP(efficient perspective-n-point)。结论该算法能够同时估计摄像机内外参数,而且比现有算法具有更好的速度和精度。展开更多
Virtual reality,augmented reality,robotics,and autonomous driving,have recently attracted much attention from both academic and industrial communities,in which image-based camera localization is a key task.However,the...Virtual reality,augmented reality,robotics,and autonomous driving,have recently attracted much attention from both academic and industrial communities,in which image-based camera localization is a key task.However,there has not been a complete review on image-based camera localization.It is urgent to map this topic to enable individuals enter the field quickly.In this paper,an overview of image-based camera localization is presented.A new and complete classification of image-based camera localization approaches is provided and the related techniques are introduced.Trends for future development are also discussed.This will be useful not only to researchers,but also to engineers and other individuals interested in this field.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.60375009 69975021 (国家自然科学基金) the National High-Tech Research and Development Plan of China under Grant No.2002AA422230 (国家高技术研究发展计划)
基金国家自然科学基金，National Laboratory ofPattern Recognition, Institute of Automation, Chinese Academy of Sciences
文摘The camera resection and the PnP problem are both of great importance in computer vision field. However, these two fundamentally different problems are often mistaken one another in the literature. In this short note, the essential differences of these two problems are clarified, and such a clarification seems helpful for those who are working on the problems.
文摘目的针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为O(n)的高精度快速算法。方法首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性方程组,以此求解虚拟控制点的图像坐标及摄像机内参,再由POSIT(pose from orthography and scaling with iterations)算法根据虚拟控制点及其图像坐标求解旋转矩阵和平移向量。结果模拟数据实验和真实图像实验表明该算法时间复杂度和计算精度均优于现有的已标定摄像机位姿的高精度快速求解算法EPnP(efficient perspective-n-point)。结论该算法能够同时估计摄像机内外参数,而且比现有算法具有更好的速度和精度。
基金supported by the National Natural Science Foundation of China under Grant No.61421004,61572499,61632003.
文摘Virtual reality,augmented reality,robotics,and autonomous driving,have recently attracted much attention from both academic and industrial communities,in which image-based camera localization is a key task.However,there has not been a complete review on image-based camera localization.It is urgent to map this topic to enable individuals enter the field quickly.In this paper,an overview of image-based camera localization is presented.A new and complete classification of image-based camera localization approaches is provided and the related techniques are introduced.Trends for future development are also discussed.This will be useful not only to researchers,but also to engineers and other individuals interested in this field.
