二次元運動に制約されたカメラのためのPnPアルゴリズム
A PnP Algorithm for Two-Dimensional Pose Estimation
車輪型ロボットなど二次元平面上を動くカメラに特化したPnPアルゴリズムを提案し、探索空間の次元削減により3次元PnPより高精度・高速・高ロバストに姿勢推定できることを示した。
著者: Joshua Wang
分類: cs.RO, cs.CV
原文アブストラクト
We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise.