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Accurate Localization and Pose Estimation for Large 3D Models

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Author

Summary, in English

We consider the problem of localizing a novel image in a large 3D model. In principle, this is just an instance of camera pose estimation, but the scale introduces some challenging problems. For one, it makes the correspondence problem very difficult and it is likely that there will be a significant rate of outliers to handle. In this paper we use recent theoretical as well as technical advances to tackle these problems. Many modern cameras and phones have gravitational sensors that allow us to reduce the search space. Further, there are new techniques to efficiently and reliably deal with extreme rates of outliers. We extend these methods to camera pose estimation by using accurate approximations and fast polynomial solvers. Experimental results are given demonstrating that it is possible to reliably estimate the camera pose despite more than 99% of outlier correspondences.

Publishing year

2014

Language

English

Pages

532-539

Publication/Series

Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Computer Vision and Robotics (Autonomous Systems)
  • Mathematics

Keywords

  • Localization Optimization Polynomial solvers Pose Estimation

Conference name

IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2014), 2014

Conference date

2014-06-24 - 2014-06-27

Conference place

Columbus, Ohio, United States

Status

Published

ISBN/ISSN/Other

  • ISSN: 1063-6919