PoseGravity: Pose Estimation from Points and Lines with Axis Prior

Akshay Chandrasekhar
5/21/2024
cs.CV

No official code found. Best implementation: akschion/PoseGravity (1 star, BSD-3-Clause, last commit 2024-11-02).

Abstract

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection points of a hyperbola and the unit circle. The solution can flexibly accommodate combinations of point and line features in minimal and overconstrained configurations. In addition, the two special cases of planar and minimal configurations are identified to yield simpler closed-form solutions. Extensive experiments validate the approach.

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Code Implementations(1)

akschion/PoseGravityCommunity100%
BSD-3-Clause
11C++May 11, 20241 years agoBSD-3-Clause

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Cite this paper

@article{chandrasekhar2024posegravity,
  title  = {PoseGravity: Pose Estimation from Points and Lines with Axis Prior},
  author = {Akshay Chandrasekhar},
  year   = {2024},
  eprint = {2405.12646},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2405.12646v2}
}

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