仮想点に基づく一般化絶対位置姿勢問題の解法
Virtual-point-based Solutions to Handle Generalized Absolute Pose Problem
複数の投影中心を持つカメラシステムの位置姿勢推定を、仮想点を用いて標準PnP問題に変換し、既存のPnPソルバーを一般化姿勢ソルバーとして利用できるようにする手法を提案した。
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著者: Bin Li, Banglei Guan, Shunkun Liang, Yang Shang
分類: cs.CV
原文アブストラクト
Multi-camera systems are increasingly adopted in robotics and autonomous navigation for their wide field of view, flexibility, and fault tolerance. Nevertheless, existing PnP solvers fail to handle multiple projection centers. This paper introduces a virtual point formulation that bridges the standard PnP and generalized pose problems, enabling a unified pipeline that transforms existing PnP solvers into generalized pose solvers. Based on this framework, we derive three Virtual-point-based Generalized Pose solvers, namely VGPc, VGPq, and VGPr, leveraging Cayley, quaternion, and rotation-matrix parameterizations, respectively. Extensive experiments demonstrate that the proposed solvers inherit the accuracy and efficiency of original PnP algorithms while significantly outperforming existing generalized solvers. Specifically, VGPc achieves higher estimation accuracy under heteroscedastic noise conditions, VGPq maintains global optimality, whereas VGPr provides superior computational efficiency without accuracy degradation.
