TY - GEN
T1 - Globally optimal pose estimation from line correspondences
AU - Mirzaei, Faraz M.
AU - Roumeliotis, Stergios
PY - 2011
Y1 - 2011
N2 - Correspondences between 2D lines in an image and 3D lines in the surrounding environment can be exploited to determine the camera's position and attitude (pose). In this paper, we introduce a novel approach to estimate the camera's pose by directly solving the corresponding least-squares problem algebraically. Specifically, the optimality conditions of the least-squares problem form a system of polynomial equations, which we efficiently solve through the eigendecomposition of a so-called multiplication matrix. Contrary to existing methods, the proposed algorithm (i) is guaranteed to find the globally optimal estimate in the least-squares sense, (ii) does not require initialization, and (iii) has computational cost only linear in the number of measurements. The superior performance of the proposed algorithm compared to previous approaches is demonstrated through extensive simulations and experiments.
AB - Correspondences between 2D lines in an image and 3D lines in the surrounding environment can be exploited to determine the camera's position and attitude (pose). In this paper, we introduce a novel approach to estimate the camera's pose by directly solving the corresponding least-squares problem algebraically. Specifically, the optimality conditions of the least-squares problem form a system of polynomial equations, which we efficiently solve through the eigendecomposition of a so-called multiplication matrix. Contrary to existing methods, the proposed algorithm (i) is guaranteed to find the globally optimal estimate in the least-squares sense, (ii) does not require initialization, and (iii) has computational cost only linear in the number of measurements. The superior performance of the proposed algorithm compared to previous approaches is demonstrated through extensive simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=84856629495&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856629495&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980272
DO - 10.1109/ICRA.2011.5980272
M3 - Conference contribution
AN - SCOPUS:84856629495
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5581
EP - 5588
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -