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Mirage: an O(n) time analytical solution to 3D camera pose estimation with multi-camera support

Published online by Cambridge University Press:  16 February 2017

Semih Dinc Open the ORCID record for Semih Dinc [Opens in a new window] ,
Farbod Fahimi  and
Ramazan Aygun Open the ORCID record for Ramazan Aygun [Opens in a new window]
Semih Dinc*
Affiliation:
Department of Computer Science, University of Alabama in Huntsville, Huntsville, Alabama aygunr@uah.edu
Farbod Fahimi
Affiliation:
Mechanical & Aerospace Engineering, University of Alabama in Huntsville, Huntsville, Alabama. E-mail: ff0002@uah.edu
Ramazan Aygun
Affiliation:
Department of Computer Science, University of Alabama in Huntsville, Huntsville, Alabama aygunr@uah.edu
*
*Corresponding author. E-mail: sd0016@uah.edu
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Summary

Mirage is a camera pose estimation method that analytically solves pose parameters in linear time for multi-camera systems. It utilizes a reference camera pose to calculate the pose by minimizing the 2D projection error between reference and actual pixel coordinates. Previously, Mirage has been successfully applied to trajectory tracking (visual servoing) problem. In this study, a comprehensive evaluation of Mirage is performed by particularly focusing on the area of camera pose estimation. Experiments have been performed using simulated and real data on noisy and noise-free environments. The results are compared with the state-of-the-art techniques. Mirage outperforms other methods by generating fast and accurate results in all tested environments.

Keywords

Camera pose estimationPerspective-N-Point (PnP)Object localizationAnalytical solutionO(n) time complexity

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Type
Articles
Information
Robotica , Volume 35 , Issue 12 , December 2017 , pp. 2278 - 2296
Copyright
Copyright © Cambridge University Press 2017 

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