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深度学习论文:两种约束下绝对姿态问题的一种新方法(A Novel Method for the Absolute Pose Problem with Pairw

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632956335 发表于 2019-3-26 11:59:24 | 显示全部楼层 |阅读模式
632956335 2019-3-26 11:59:24 836 0 显示全部楼层
深度学习论文:两种约束下绝对姿态问题的一种新方法(A Novel Method for the Absolute Pose Problem with Pairwise Constraints)绝对姿态估计是计算机视觉中的一个基本问题,它是一个典型的参数估计问题,这意味着解决它的努力总会受到异常数据污染的影响。传统上,对于固定维数d和测量数量N,鲁棒估计问题不能比O(N ^ d)更快地求解。此外,几乎不可能从全局最优算法的运行时间的指数中删除d。然而,绝对姿态估计是几何参数估计问题,因此具有特殊约束。在本文中,我们考虑成对约束并提出一种求解绝对估计问题的全局最优算法。所提出的算法在给定的异常值比率下具有线性复杂度。具体地说,我们首先利用成对约束来解耦旋转和转换子问题,然后利用分支定界算法求解旋转子问题。最后,我们通过使用另一个分支定界算法估计基于已知旋转的转换。通过对合成和现实世界数据的全面测试,证明了我们的方法的优点
Absolute pose estimation is a fundamental problem in computer vision, and itis a typical parameter estimation problem, meaning that efforts to solve itwill always suffer from outlier-contaminated data.Conventionally, for a fixeddimensionality d and the number of measurements N, a robust estimation problemcannot be solved faster than O(N^d).Furthermore, it is almost impossible toremove d from the exponent of the runtime of a globally optimal algorithm.However, absolute pose estimation is a geometric parameter estimation problem,and thus has special constraints.In this paper, we consider pairwiseconstraints and propose a globally optimal algorithm for solving the absolutepose estimation problem.The proposed algorithm has a linear complexity in thenumber of correspondences at a given outlier ratio.Concretely, we firstdecouple the rotation and the translation subproblems by utilizing the pairwiseconstraints, and then we solve the rotation subproblem using thebranch-and-bound algorithm.Lastly, we estimate the translation based on theknown rotation by using another branch-and-bound algorithm.The advantages ofour method are demonstrated via thorough testing on both synthetic andreal-world data深度学习论文:两种约束下绝对姿态问题的一种新方法(A Novel Method for the Absolute Pose Problem with Pairwise Constraints) oM9U9WmwuBmw9DwN.jpg
URL地址:https://arxiv.org/abs/1903.10175     ----pdf下载地址:https://arxiv.org/pdf/1903.10175    ----深度学习论文:两种约束下绝对姿态问题的一种新方法(A Novel Method for the Absolute Pose Problem with Pairwise Constraints)
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