Robust Absolute and Relative Pose Estimation of a Central Camera System from 2D-3D Line Correspondences

Author(s):  
Hichem Abdellali ◽  
Robert Frohlich ◽  
Zoltan Kato
2021 ◽  
Vol 41 (5) ◽  
pp. 0515001
Author(s):  
田苗 Tian Miao ◽  
关棒磊 Guan Banglei ◽  
孙放 Sun Fang ◽  
苑云 Yuan Yun ◽  
于起峰 Yu Qifeng

Author(s):  
CHENGGUANG ZHU ◽  
zhongpai Gao ◽  
Jiankang Zhao ◽  
Haihui Long ◽  
Chuanqi Liu

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.


2018 ◽  
Vol 3 (4) ◽  
pp. 2770-2777 ◽  
Author(s):  
Lucas Teixeira ◽  
Fabiola Maffra ◽  
Marco Moos ◽  
Margarita Chli

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6940
Author(s):  
Elise Klæbo Vonstad ◽  
Xiaomeng Su ◽  
Beatrix Vereijken ◽  
Kerstin Bach ◽  
Jan Harald Nilsen

Using standard digital cameras in combination with deep learning (DL) for pose estimation is promising for the in-home and independent use of exercise games (exergames). We need to investigate to what extent such DL-based systems can provide satisfying accuracy on exergame relevant measures. Our study assesses temporal variation (i.e., variability) in body segment lengths, while using a Deep Learning image processing tool (DeepLabCut, DLC) on two-dimensional (2D) video. This variability is then compared with a gold-standard, marker-based three-dimensional Motion Capturing system (3DMoCap, Qualisys AB), and a 3D RGB-depth camera system (Kinect V2, Microsoft Inc). Simultaneous data were collected from all three systems, while participants (N = 12) played a custom balance training exergame. The pose estimation DLC-model is pre-trained on a large-scale dataset (ImageNet) and optimized with context-specific pose annotated images. Wilcoxon’s signed-rank test was performed in order to assess the statistical significance of the differences in variability between systems. The results showed that the DLC method performs comparably to the Kinect and, in some segments, even to the 3DMoCap gold standard system with regard to variability. These results are promising for making exergames more accessible and easier to use, thereby increasing their availability for in-home exercise.


Sign in / Sign up

Export Citation Format

Share Document