Absolute pose for cameras under flat refractive interfaces

Summary, in English

This paper studies the problem of determining the absolute pose of a perspective camera observing a scene through a known refractive plane, the flat boundary between transparent media with different refractive indices. Efficient minimal solvers are developed for the 2D, known orientation and known rotation axis cases, and near-minimal solvers for the general calibrated and unknown focal length cases. We show that ambiguities in the equations of Snell's law give rise to a large number of false solutions, increasing the complexity of the problem. Evaluation of the solvers on both synthetic and real data show excellent numerical performance, and the necessity of explicitly modelling refraction to obtain accurate pose estimates.

• Author: Sebastian Haner; Kalle Åström
• Department/s: Centre for Mathematical Sciences; ELLIIT: the Linköping-Lund initiative on IT and mobile communication; eSSENCE: The e-Science Collaboration
• Publishing year: 2015-10-14
• Language: English
• Pages: 1428-1436
• Publication/Series: 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
• Links: http://dx.doi.org/10.1109/CVPR.2015.7298749
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Mathematics; Computer Vision and Robotics (Autonomous Systems)
• Conference name: IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
• Conference date: 2015-06-07 - 2015-06-12
• Conference place: Boston, United States
• Status: Published
• ISBN/ISSN/Other: ISBN: 978-1-4673-6964-0