カメラ自己運動下での単眼人物位置推定
Monocular Person Localization under Camera Ego-motion
移動する単眼カメラから人物の3D位置を推定するため、4点モデルでカメラ姿勢と人物位置を同時最適化する手法を提案し、四足歩行ロボットの追従システムに実装した。
著者: Yu Zhan, Hanjing Ye, Hong Zhang
分類: cs.CV, cs.RO
原文アブストラクト
Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a position regression model trained on datasets containing little camera ego-motion. These methods are vulnerable to severe camera ego-motion, resulting in inaccurate person localization. We consider person localization as a part of a pose estimation problem. By representing a human with a four-point model, our method jointly estimates the 2D camera attitude and the person's 3D location through optimization. Evaluations on both public datasets and real robot experiments demonstrate our method outperforms baselines in person localization accuracy. Our method is further implemented into a person-following system and deployed on an agile quadruped robot.
