Accurate and robust spherical camera pose estimation using consistent points

Christiano Couto Gava; Bernd Krolla; Didier Stricker

doi:10.1117/12.2181234

14 February 2015 Accurate and robust spherical camera pose estimation using consistent points

Christiano Couto Gava, Bernd Krolla, Didier Stricker

Proceedings Volume 9445, Seventh International Conference on Machine Vision (ICMV 2014); 94451W (2015) https://doi.org/10.1117/12.2181234
Event: Seventh International Conference on Machine Vision (ICMV 2014), 2014, Milan, Italy

Abstract

This paper addresses the problem of multi-view camera pose estimation of high resolution, full spherical images. A novel approach to simultaneously retrieve camera poses along with a sparse point cloud is designed for large scale scenes. We introduce the concept of consistent points that allows to dynamically select the most reliable 3D points for nonlinear pose refinement. In contrast to classical bundle adjustment approaches, we propose to reduce the parameter search space while jointly optimizing camera poses and scene geometry. Our method notably improves accuracy and robustness of camera pose estimation, as shown by experiments carried out on real image data.

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Christiano Couto Gava, Bernd Krolla, and Didier Stricker "Accurate and robust spherical camera pose estimation using consistent points", Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 94451W (14 February 2015); https://doi.org/10.1117/12.2181234

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KEYWORDS

Cameras

Spherical lenses

Calibration

Image resolution

3D modeling

Atomic force microscopy

Error analysis

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