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Solving the PnL problem using the hidden variable method: an accurate and efficient solution | |
Ping Wang1; Yongxin Chou2; Aimin An1; Guili Xu3 | |
2020 | |
发表期刊 | The Visual Computer |
ISSN | 0178-2789 |
卷号 | 38期号:2020页码:95-106 |
摘要 | This paper addresses the camera pose estimation problem from 3D lines and their 2D projections, known as the perspective-n-line (PnL) problem. Although many successful solutions have been presented, it is still a challenging to optimize both computational complexity and accuracy at the same time. In our work, we parameterize the rotation by using the Cayley–Gibbs–Rodriguez (CGR) parameterization and formulate the PnL problem into a polynomial system solving problem. Instead of the Gröbner basis method, which may encounter numeric problems, we seek for an efficient and stability technique—the hidden variable method—to solve the polynomial system and polish the solution via the Gauss–Newton method. The performance of our method is evaluated by using simulations and real images, and results demonstrate that our method offers accuracy and precision comparable or better than existing state-of-the-art methods, but with significantly lower computational cost. |
关键词 | Perspective-n-line problem (PnL) Camera pose estimation Absolute position and orientation Computer vision |
DOI | https://doi.org/10.1007/s00371-020-02004-2 |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Computer Science |
WOS类目 | Computer Science, Software Engineering |
WOS记录号 | WOS:000586358700001 |
出版者 | SPRINGER |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | https://ir.lut.edu.cn/handle/2XXMBERH/103258 |
专题 | 电气工程与信息工程学院 |
通讯作者 | Ping Wang |
作者单位 | 1.College of Electrical and Information Engineering, Lanzhou University of Technology 2.College of Automation Engineering, Nanjing University of Aeronautics and Astronautics 3.School of Electrical and Automatic Engineering, Changshu Institute of Technology |
第一作者单位 | 兰州理工大学 |
通讯作者单位 | 兰州理工大学 |
第一作者的第一单位 | 兰州理工大学 |
推荐引用方式 GB/T 7714 | Ping Wang,Yongxin Chou,Aimin An,et al. Solving the PnL problem using the hidden variable method: an accurate and efficient solution[J]. The Visual Computer,2020,38(2020):95-106. |
APA | Ping Wang,Yongxin Chou,Aimin An,&Guili Xu.(2020).Solving the PnL problem using the hidden variable method: an accurate and efficient solution.The Visual Computer,38(2020),95-106. |
MLA | Ping Wang,et al."Solving the PnL problem using the hidden variable method: an accurate and efficient solution".The Visual Computer 38.2020(2020):95-106. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Wang2020_Article_Sol(1522KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
Wang-2022-Solving th(1505KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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