RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS
A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently lead to an insufficient pose es...
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doaj-28ece5e32b3a4493a64337ece05f399d2020-11-24T21:54:21ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342015-03-01XL-3/W2394510.5194/isprsarchives-XL-3-W2-39-2015RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETST. Y. Chuang0F. Rottensteiner1C. Heipke2Institute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, GermanyInstitute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, GermanyInstitute of Photogrammetry and GeoInformation, Leibniz Universität Hannover, GermanyA fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently lead to an insufficient pose estimation. This paper presents a triplet-wise scheme for calibrated relative pose estimation from image point and line triplets, and investigates the effectiveness of the feature integration upon the relative pose estimation. To this end, we employ an existing point matching technique and propose a method for line triplet matching in which the relative poses are resolved during the matching procedure. The line matching method aims at establishing hypotheses about potential minimal line matches that can be used for determining the parameters of relative orientation (pose estimation) of two images with respect to the reference one; then, quantifying the agreement using the estimated orientation parameters. Rather than randomly choosing the line candidates in the matching process, we generate an associated lookup table to guide the selection of potential line matches. In addition, we integrate the homologous point and line triplets into a common adjustment procedure. In order to be able to also work with image sequences the adjustment is formulated in an incremental manner. The proposed scheme is evaluated with both synthetic and real datasets, demonstrating its satisfactory performance and revealing the effectiveness of image feature integration.http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-3-W2/39/2015/isprsarchives-XL-3-W2-39-2015.pdf |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
T. Y. Chuang F. Rottensteiner C. Heipke |
spellingShingle |
T. Y. Chuang F. Rottensteiner C. Heipke RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
author_facet |
T. Y. Chuang F. Rottensteiner C. Heipke |
author_sort |
T. Y. Chuang |
title |
RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS |
title_short |
RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS |
title_full |
RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS |
title_fullStr |
RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS |
title_full_unstemmed |
RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS |
title_sort |
relative pose estimation using image feature triplets |
publisher |
Copernicus Publications |
series |
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
issn |
1682-1750 2194-9034 |
publishDate |
2015-03-01 |
description |
A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice.
However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently
lead to an insufficient pose estimation. This paper presents a triplet-wise scheme for calibrated relative pose estimation from image
point and line triplets, and investigates the effectiveness of the feature integration upon the relative pose estimation. To this end, we
employ an existing point matching technique and propose a method for line triplet matching in which the relative poses are resolved
during the matching procedure. The line matching method aims at establishing hypotheses about potential minimal line matches that
can be used for determining the parameters of relative orientation (pose estimation) of two images with respect to the reference one;
then, quantifying the agreement using the estimated orientation parameters. Rather than randomly choosing the line candidates in the
matching process, we generate an associated lookup table to guide the selection of potential line matches. In addition, we integrate the
homologous point and line triplets into a common adjustment procedure. In order to be able to also work with image sequences the
adjustment is formulated in an incremental manner. The proposed scheme is evaluated with both synthetic and real datasets,
demonstrating its satisfactory performance and revealing the effectiveness of image feature integration. |
url |
http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-3-W2/39/2015/isprsarchives-XL-3-W2-39-2015.pdf |
work_keys_str_mv |
AT tychuang relativeposeestimationusingimagefeaturetriplets AT frottensteiner relativeposeestimationusingimagefeaturetriplets AT cheipke relativeposeestimationusingimagefeaturetriplets |
_version_ |
1725867423260737536 |