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Simultaneous Multi-view Relative Pose Estimation and 3D Reconstruction from Planar Regions

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Computer Vision – ACCV 2018 Workshops (ACCV 2018)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 11367))

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Abstract

In this paper, we propose a novel solution for multi-view reconstruction, relative pose and homography estimation using planar regions. The proposed method doesn‘t require point matches, it directly uses a pair of planar image regions and simultaneously reconstructs the normal and distance of the corresponding 3D planar surface patch, the relative pose of the cameras as well as the aligning homography between the image regions. When more than two cameras are available, then a special region-based bundle adjustment is proposed, which provides robust estimates in a multi-view camera system by constructing and solving a non-linear system of equations. The method is quantitatively evaluated on a large synthetic dataset as well as on the KITTI vision benchmark dataset.

This work was partially supported by the NKFI-6 fund through project K120366; “Integrated program for training new generation of scientists in the fields of computer science”, EFOP-3.6.3-VEKOP-16-2017-0002; the Ministry of Human Capacities, Hungary through grant 20391-3/2018/FEKUSTRAT; the Research & Development Operational Programme for the project “Modernization and Improvement of Technical Infrastructure for Research and Development of J. Selye University in the Fields of Nanotechnology and Intelligent Space”, ITMS 26210120042, co-funded by the European Regional Development Fund. The authors would like to thank Levente Hajder for the Matlab implementation of the factorization method from [20].

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Author information

Authors and Affiliations

  1. Institute of Informatics, University of Szeged, Arpad ter 2, Szeged, Hungary

    Robert Frohlich & Zoltan Kato

  2. Department of Mathematics and Informatics, J. Selye University, Komarno, Slovakia

    Zoltan Kato

Authors
  1. Robert Frohlich
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  2. Zoltan Kato
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Correspondence to Zoltan Kato .

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Editors and Affiliations

  1. School of Computer Science, University of Adelaide, Adelaide, Australia

    Gustavo Carneiro

  2. Data61, Commonwealth Scientific and Industrial Research Organization, Canberra, Australia

    Shaodi You

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Frohlich, R., Kato, Z. (2019). Simultaneous Multi-view Relative Pose Estimation and 3D Reconstruction from Planar Regions. In: Carneiro, G., You, S. (eds) Computer Vision – ACCV 2018 Workshops. ACCV 2018. Lecture Notes in Computer Science(), vol 11367. Springer, Cham. https://doi.org/10.1007/978-3-030-21074-8_37

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  • DOI: https://doi.org/10.1007/978-3-030-21074-8_37

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  • Online ISBN: 978-3-030-21074-8

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