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Planar Motion Estimation for Multi-camera System

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Pattern Recognition (ACPR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13188))

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Abstract

In this paper, we propose efficient solutions to relative pose estimation with a multi-camera system. We focus on the case where the system navigates under planar motion, and propose two new algorithms: the non-minimal linear 6-point algorithm and the minimal 3-point algorithm. For the 6-point algorithm, we use a simple and easy-to-implement way to avoid the SVD (singular value decomposition) induced degenerate configuration, which happens in the multi-camera system based relative pose estimation. The minimal 3-point algorithm results in a system of polynomials with respect to three unknowns, and we show that it can be converted to solve a univariate polynomial in degree 4. The proposed algorithms are compared with the state-of-the-art methods on both synthetic data and public real-world images. Experimental results show very promising performance in terms of accuracy, robustness and efficiency.

This work was supported by Shanghai Automotive Industry Science and Technology Development Fundation (No. 1917).

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Authors and Affiliations

  1. PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education, Nanjing University of Science and Technology, Nanjing, China

    Xinlei Qi, Yaqing Ding, Jin Xie & Jian Yang

  2. Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing, China

    Xinlei Qi, Yaqing Ding, Jin Xie & Jian Yang

Authors
  1. Xinlei Qi
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  2. Yaqing Ding
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  3. Jin Xie
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  4. Jian Yang
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Corresponding author

Correspondence to Jian Yang .

Editor information

Editors and Affiliations

  1. Korea University, Seoul, Korea (Republic of)

    Christian Wallraven

  2. Nanjing University, Nanjing, China

    Qingshan Liu

  3. Osaka University, Osaka, Japan

    Hajime Nagahara

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Qi, X., Ding, Y., Xie, J., Yang, J. (2022). Planar Motion Estimation for Multi-camera System. In: Wallraven, C., Liu, Q., Nagahara, H. (eds) Pattern Recognition. ACPR 2021. Lecture Notes in Computer Science, vol 13188. Springer, Cham. https://doi.org/10.1007/978-3-031-02375-0_9

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  • DOI: https://doi.org/10.1007/978-3-031-02375-0_9

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-031-02375-0

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