Robust pose estimation which guarantees positive depths.

ABSTRACT: In the area of 3D computer vision, the ability to estimate pose between two cameras under high noise levels while maintaining small reprojection errors reflects the robustness of such pose estimation algorithms. Moreover, maintaining positive depth constraint is another challenging task. Unfortunately, current pose estimation algorithms are often sensitive to noise/outliers and do not always guarantee positive depths. As a standalone task, these algorithms perform a positive sign check and simply discard the points with negative depths after the algorithms are executed. These algorithms do not integrate positive depth constraints into the algorithms themselves. Instead, they do it afterwards. Here, from a comprehensive mathematical derivation, we propose a novel pose estimation algorithm t

SUBMITTER: Li C 

PROVIDER: S-EPMC10719315 | biostudies-literature | 2023 Dec

REPOSITORIES: biostudies-literature