Slide 51
Slide 51 text
Tutorial of Geometric Solvers for Reconstruction And Pose estimation (GSRAP)
GSRAPに実装されているソルバー(追加予定)
2D-2D対応点を利用した相対姿勢の推定
• Nister’s 5-point algorithm (𝑛 ≥ 5, 基本行列E)
• D. Nistér, “An efficient solution to the five-point relative pose problem”, TPAMI, Vol.26, Issue 6, pp.756–777, 2004
2D-3D対応点を利用した絶対姿勢R, 𝐭の推定
• Ke’s P3P algorithm (𝑛 = 3)
• T. Ke, S. I. Roumeliotis, “An Efficient Algebraic Solution to the Perspective-Three-Point Problem”, pp.7225-7233, CVPR, 2017
• EPnP: Efficient Perspective-n-Point Camera Pose Estimation (𝑛 ≥ 4)
• V. Lepetit, F
. Moreno-Noguer, P. Fua, “EPnP: An Accurate O(n) Solution to the PnP Problem”, IJCV, 2009
3D-3D対応点を利用した剛体・相似変換R, 𝐭, sの推定
• Umeyamaアルゴリズム(𝑛 ≥ 3)
• S. Umeyama, “Least-Squares Estimation of Transformation Parameters Between Two Point Patterns”, pp. 376-380, Vol.13, TPAMI, 1991
※ Nister’s 5-point algoritm, EPnPはOpenGV, Ke’s P3P algorithmはOpenCVのコードを利用
• L. Kneip, P. Furgale, "OpenGV: A unified and generalized approach to real-time calibrated geometric vision", ICRA, May 2014
• OpenCV, https://github.com/opencv/opencv
51
RANSAC関数をテンプレートで記述することで全ソルバーへ統一的に適用可