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Proceedings Paper

Accurate and robust spherical camera pose estimation using consistent points
Author(s): Christiano Couto Gava; Bernd Krolla; Didier Stricker
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Paper 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.

Paper Details

Date Published: 14 February 2015
PDF: 7 pages
Proc. SPIE 9445, Seventh International Conference on Machine Vision (ICMV 2014), 94451W (14 February 2015); doi: 10.1117/12.2181234
Show Author Affiliations
Christiano Couto Gava, German Research Ctr. for Artificial Intelligence (Germany)
Bernd Krolla, German Research Ctr. for Artificial Intelligence (Germany)
Didier Stricker, German Research Ctr. for Artificial Intelligence (Germany)


Published in SPIE Proceedings Vol. 9445:
Seventh International Conference on Machine Vision (ICMV 2014)
Antanas Verikas; Branislav Vuksanovic; Petia Radeva; Jianhong Zhou, Editor(s)

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