scholarly journals Camera calibration and relative pose estimation from gravity

2002 ◽  
Author(s):  
P.F. Sturm ◽  
Long Quan
Keyword(s):  
Camera Calibration ◽  
Pose Estimation ◽  
Relative Pose

scholarly journals On the Effect of Control-Point Spacing on the Multisolution Phenomenon in the P3P Problem

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
M. Vynnycky ◽  
G. M. M. Reddy
Keyword(s):  
Image Analysis ◽  
Camera Calibration ◽  
Pose Estimation ◽  
Computer Animation ◽  
Solution Structure ◽  
Control Point ◽  
Quartic Equation ◽  
Real Solutions ◽  
Algebraic Analysis ◽  
And Robotics

The perspective 3-point (P3P) problem, also known as pose estimation, has its origins in camera calibration and is of importance in many fields: for example, computer animation, automation, image analysis, and robotics. One possibility is to formulate it mathematically in terms of finding the solution to a quartic equation. However, there is yet no quantitative knowledge as to how control-point spacing affects the solution structure—in particular, the multisolution phenomenon. Here, we consider this problem through an algebraic analysis of the quartic’s coefficients and its discriminant and find that there are significant variations in the likelihood of two or four solutions, depending on how the spacing is chosen. The analysis indicates that although it is never possible to remove the occurrence of the four-solution case completely, it could be possible to choose spacings that would maximize the occurrence of two real solutions. Moreover, control-point spacing is found to impact significantly on the reality conditions for the solution of the quartic equation.

WTLS-Bayes Filter-based Relative Pose Estimation for Space Non-cooperative Unknown Target Without a Priori Knowledge

2021 ◽  
Author(s):  
CHENGGUANG ZHU ◽  
zhongpai Gao ◽  
Jiankang Zhao ◽  
Haihui Long ◽  
Chuanqi Liu
Keyword(s):  
Pose Estimation ◽  
A Priori ◽  
Convergence Time ◽  
Estimation Accuracy ◽  
A Priori Knowledge ◽  
One Step ◽  
Relative Pose ◽  
The One ◽  
Negative Factors ◽  
Priori Knowledge

Abstract The relative pose estimation of a space noncooperative target is an attractive yet challenging task due to the complexity of the target background and illumination, and the lack of a priori knowledge. Unfortunately, these negative factors have a grave impact on the estimation accuracy and the robustness of filter algorithms. In response, this paper proposes a novel filter algorithm to estimate the relative pose to improve the robustness based on a stereovision system. First, to obtain a coarse relative pose, the weighted total least squares (WTLS) algorithm is adopted to estimate the relative pose based on several feature points. The resulting relative pose is fed into the subsequent filter scheme as observation quantities. Second, the classic Bayes filter is exploited to estimate the relative state except for moment-of-inertia ratios. Additionally, the one-step prediction results are used as feedback for WTLS initialization. The proposed algorithm successfully eliminates the dependency on continuous tracking of several fixed points. Finally, comparison experiments demonstrate that the proposed algorithm presents a better performance in terms of robustness and convergence time.

scholarly journals VI-RPE: Visual-Inertial Relative Pose Estimation for Aerial Vehicles

2018 ◽  
Vol 3 (4) ◽  
pp. 2770-2777 ◽  
Author(s):  
Lucas Teixeira ◽  
Fabiola Maffra ◽  
Marco Moos ◽  
Margarita Chli
Keyword(s):  
Pose Estimation ◽  
Aerial Vehicles ◽  
Relative Pose

scholarly journals Relative Pose Estimation Based on Pairwise Range With Application to Aerobridge

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 196979-196991
Author(s):  
Ruican Xia ◽  
Hailong Pei
Keyword(s):  
Pose Estimation ◽  
Relative Pose
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