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Relative Camera Pose Estimation via SDP Relaxation

A conference poster presenting a method for relative camera pose estimation that avoids disambiguation steps using SDP relaxation, demonstrating superior accuracy and scaling against baselines.

论文上下文

Paper title: From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation Abstract: A conference poster presenting a method for relative camera pose estimation that avoids disambiguation steps using SDP relaxation, demonstrating superior accuracy and scaling against baselines. Paper body (method & results): <!DOCTYPE html> <html lang="en"> <head> <meta content="text/html; charset=utf-8" http-equiv="content-type"/> <title>From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation</title>  <meta content="width=device-width, initial-scale=1, shrink-to-fit=no" name="viewport"/> <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/css/bootstrap.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/ar5iv_0.7.4.min.css" rel="stylesheet" type="text/css"/> <link href="/static/browse/0.3.4/css/latexml_styles.css" rel="stylesheet" type="text/css"/> <script src="https://cdn.jsdelivr.net/npm/bootstrap@5.3.0/dist/js/bootstrap.bundle.min.js"></script> <script src="https://cdnjs.cloudflare.com/ajax/libs/html2canvas/1.3.3/html2canvas.min.js"></script> <script src="/static/browse/0.3.4/js/addons.js"></script> <script src="/static/browse/0.3.4/js/feedbackOverlay.js"></script> <base href="/html/2312.05995v1/"/></head> <body> <nav class="ltx_page_navbar"> <nav class="ltx_TOC"> <ol class="ltx_toclist"> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="#S1" title="1 Introduction ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">1 </span>Introduction</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="#S2" title="2 Related Work ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">2 </span>Related Work</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="#S3" title="3 Non-minimal solver for the relative pose ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3 </span>Non-minimal solver for the relative pose</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#S3.SS1" title="3.1 Necessary and sufficient constraints ‣ 3 Non-minimal solver for the relative pose ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.1 </span>Necessary and sufficient constraints</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#S3.SS2" title="3.2 Recovery of the rotation ‣ 3 Non-minimal solver for the relative pose ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.2 </span>Recovery of the rotation</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#S3.SS3" title="3.3 QCQP ‣ 3 Non-minimal solver for the relative pose ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">3.3 </span>QCQP</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"> <a class="ltx_ref" href="#S4" title="4 SDP relaxation and optimization ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4 </span>SDP relaxation and optimization</span></a> <ol class="ltx_toclist ltx_toclist_section"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#S4.SS1" title="4.1 Relative pose recovery ‣ 4 SDP relaxation and optimization ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">4.1 </span>Relative pose recovery</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="#S5" title="5 Experiments ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">5 </span>Experiments</span></a></li> <li class="ltx_tocentry ltx_tocentry_section"><a class="ltx_ref" href="#S6" title="6 Conclusion and Limitations ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">6 </span>Conclusion and Limitations</span></a></li> <li class="ltx_tocentry ltx_tocentry_appendix"> <a class="ltx_ref" href="#A1" title="Appendix A Additional details ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref"><span class="ltx_text" style="font-size:144%;">A</span> </span><span class="ltx_text" style="font-size:144%;">Additional details</span></span></a> <ol class="ltx_toclist ltx_toclist_appendix"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#A1.SS1" title="A.1 Averaging of data-dependent constraints ‣ Appendix A Additional details ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.1 </span>Averaging of data-dependent constraints</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#A1.SS2" title="A.2 Appropriate scaling of the solution estimates ‣ Appendix A Additional details ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.2 </span>Appropriate scaling of the solution estimates</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#A1.SS3" title="A.3 Pure rotations and numerical accuracy ‣ Appendix A Additional details ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">A.3 </span>Pure rotations and numerical accuracy</span></a></li> </ol> </li> <li class="ltx_tocentry ltx_tocentry_appendix"><a class="ltx_ref" href="#A2" title="Appendix B Tightness of [69] when the SDP solution is rank-2 ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref"><span class="ltx_text" style="font-size:144%;">B</span> </span><span class="ltx_text" style="font-size:144%;">Tightness of </span><cite class="ltx_cite ltx_citemacro_cite"><span class="ltx_text" style="font-size:144%;">[</span><span class="ltx_ref"><span class="ltx_text" style="font-size:90%;">69</span></span><span class="ltx_text" style="font-size:144%;">]</span></cite><span class="ltx_text" style="font-size:144%;"> when the SDP solution is rank-2</span></span></a></li> <li class="ltx_tocentry ltx_tocentry_appendix"><a class="ltx_ref" href="#A3" title="Appendix C Algebraic derivation of Equation 39 ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref"><span class="ltx_text" style="font-size:144%;">C</span> </span><span class="ltx_text" style="font-size:144%;">Algebraic derivation of </span><span class="ltx_text ltx_ref_tag">Equation</span> <span class="ltx_text ltx_ref_tag">39</span></span></a></li> <li class="ltx_tocentry ltx_tocentry_appendix"> <a class="ltx_ref" href="#A4" title="Appendix D Additional experiments ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref"><span class="ltx_text" style="font-size:144%;">D</span> </span><span class="ltx_text" style="font-size:144%;">Additional experiments</span></span></a> <ol class="ltx_toclist ltx_toclist_appendix"> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#A4.SS1" title="D.1 Accuracy vs noise and translation magnitude ‣ Appendix D Additional experiments ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">D.1 </span>Accuracy vs noise and translation magnitude</span></a></li> <li class="ltx_tocentry ltx_tocentry_subsection"><a class="ltx_ref" href="#A4.SS2" title="D.2 Real-data ‣ Appendix D Additional experiments ‣ From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation"><span class="ltx_text ltx_ref_title"><span class="ltx_tag ltx_tag_ref">D.2 </span>Real-data</span></a></li> </ol> </li> </ol></nav> </nav> <div class="ltx_page_main"> <div class="ltx_page_content"> <div class="package-alerts ltx_document" role="alert"> <button aria-label="Dismiss alert" onclick="closePopup()"> <span aria-hidden="true"><svg aria-hidden="true" focusable="false" height="20" role="presentation" viewbox="0 0 44 44" width="20"> <path d="M0.549989 4.44999L4.44999 0.549988L43.45 39.55L39.55 43.45L0.549989 4.44999Z"></path> <path d="M39.55 0.549988L43.45 4.44999L4.44999 43.45L0.549988 39.55L39.55 0.549988Z"></path> </svg></span> </button> <p>HTML conversions <a href="https://info.dev.arxiv.org/about/accessibility_html_error_messages.html" target="_blank">sometimes display errors</a> due to content that did not convert correctly from the source. 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