正弦波フィッティングによる全方位カメラの姿勢推定
Pose Estimation for Omni-directional Cameras using Sinusoid Fitting
全方位カメラのパノラマ画像間で画素移動が正弦波状になる性質を利用し、iFMIで求めた画素運動を2つの正弦関数にフィッティングして6自由度の3D回転・並進を推定する手法を提案した論文。
著者: Haofei Kuang, Qingwen Xu, Xiaoling Long, Sören Schwertfeger
分類: cs.RO
原文アブストラクト
We propose a novel pose estimation method for geometric vision of omni-directional cameras. On the basis of the regularity of the pixel movement after camera pose changes, we formulate and prove the sinusoidal relationship between pixels movement and camera motion. We use the improved Fourier-Mellin invariant (iFMI) algorithm to find the motion of pixels, which was shown to be more accurate and robust than the feature-based methods. While iFMI works only on pin-hole model images and estimates 4 parameters (x, y, yaw, scaling), our method works on panoramic images and estimates the full 6 DoF 3D transform, up to an unknown scale factor. For that we fit the motion of the pixels in the panoramic images, as determined by iFMI, to two sinusoidal functions. The offsets, amplitudes and phase-shifts of the two functions then represent the 3D rotation and translation of the camera between the two images. We perform experiments for 3D rotation, which show that our algorithm outperforms the feature-based methods in accuracy and robustness. We leave the more complex 3D translation experiments for future work.
