Solving the PnL problem using the hidden variable method: an accurate and efficient solution

doi:10.1007/s00371-020-02004-2

	Solving the PnL problem using the hidden variable method: an accurate and efficient solution
	Wang, Ping 1; Chou, Yongxin 3; An, Aimin 1; Xu, Guili 2
刊名	VISUAL COMPUTER
	2022
卷号	38 期号:1 页码:95-106
关键词	Perspective-n-line problem (PnL) Camera pose estimation Absolute position and orientation Computer vision
ISSN号	0178-2789
DOI	10.1007/s00371-020-02004-2
英文摘要	This paper addresses the camera pose estimation problem from 3D lines and their 2D projections, known as the perspective-n-line (PnL) problem. Although many successful solutions have been presented, it is still a challenging to optimize both computational complexity and accuracy at the same time. In our work, we parameterize the rotation by using the Cayley-Gibbs-Rodriguez (CGR) parameterization and formulate the PnL problem into a polynomial system solving problem. Instead of the Grobner basis method, which may encounter numeric problems, we seek for an efficient and stability technique-the hidden variable method-to solve the polynomial system and polish the solution via the Gauss-Newton method. The performance of our method is evaluated by using simulations and real images, and results demonstrate that our method offers accuracy and precision comparable or better than existing state-of-the-art methods, but with significantly lower computational cost.
WOS研究方向	Computer Science
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000586358700001
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/155056]
专题	电气工程与信息工程学院
作者单位	1.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China; 2.Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China 3.Changshu Inst Technol, Sch Elect & Automat Engn, Suzhou 215500, Peoples R China;
推荐引用方式 GB/T 7714	Wang, Ping,Chou, Yongxin,An, Aimin,et al. Solving the PnL problem using the hidden variable method: an accurate and efficient solution[J]. VISUAL COMPUTER,2022,38(1):95-106.
APA	Wang, Ping,Chou, Yongxin,An, Aimin,&Xu, Guili.(2022).Solving the PnL problem using the hidden variable method: an accurate and efficient solution.VISUAL COMPUTER,38(1),95-106.
MLA	Wang, Ping,et al."Solving the PnL problem using the hidden variable method: an accurate and efficient solution".VISUAL COMPUTER 38.1(2022):95-106.