A 4-Point Algorithm for Relative Pose Estimation of a Calibrated Camera with a Known Relative Rotation Angle

July 18, 2013 in ETHZ-CVG, Publications, year 3 by admin

Bo Li, Lionel Heng, Gim Hee Lee, and Marc Pollefeys

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

We propose an algorithm to estimate the relative camera pose using four feature correspondences and one relative rotation angle measurement. The algorithm can be used for relative pose estimation of a rigid body equipped with a camera and a relative rotation angle sensor which can be either an odometer, an IMU or a GPS/INS system. This algorithm exploits the fact that the relative rotation angles of both the camera and relative rotation angle sensor are the same as the camera and sensor are rigidly mounted to a rigid body. Therefore, knowledge of the extrinsic calibration between the camera and sensor is not required. We carry out a quantitative comparison of our algorithm with the well-known 5-point and 1-point algorithms, and show that our algorithm exhibits the highest level of accuracy.


@inproceedings{liIROS13a,
author = {Bo Li and
Lionel Heng and
Gim Hee Lee and
Marc Pollefeys},
title = {A 4-Point Algorithm for Relative Pose Estimation of a Calibrated Camera with a Known Relative Rotation Angle},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2013},
pages = {}
}

Article full text