Stereo relative pose from line and point feature triplets

June 29, 2019 · Entered Twilight · 🏛 European Conference on Computer Vision

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Repo contents: CMakeLists.txt, LICENSE, README.md, cmake_modules, main.cpp, pluecker.cpp, pluecker_assign.cpp, quadric_solver.cpp, quadric_solver.h, sego.cpp, sego.h, sego_functions.h

Authors Alexander Vakhitov, Victor Lempitsky, Yinqiang Zheng arXiv ID 1907.00276 Category cs.CV: Computer Vision Cross-listed cs.RO Citations 15 Venue European Conference on Computer Vision Repository https://github.com/alexandervakhitov/sego ⭐ 10 Last Checked 7 days ago

Abstract

Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work, we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal set consists of three point or line features and each of them has three known projections on two stereo cameras. We validate the importance of this formulation for practical purposes in our experiments with motion estimation. We then present a complete classification of minimal cases with three point or line correspondences each having three projections, and present two new solvers that can handle all such cases. We demonstrate a considerable effect from the integration of the new solvers into a visual SLAM system.