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POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization Method
Univ Lisbon, Inst Super Tecn, ISR, Lisbon, Portugal..
Inst Politecn Coimbra, ISEC, Coimbra, Portugal.;Univ Coimbra, Inst Syst & Robot, Coimbra, Portugal..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-8551-2448
2019 (English)In: 2019 International Conference on Robotics and Automation (ICRA) / [ed] Howard, A Althoefer, K Arai, F Arrichiello, F Caputo, B Castellanos, J Hauser, K Isler, V Kim, J Liu, H Oh, P Santos, V Scaramuzza, D Ude, A Voyles, R Yamane, K Okamura, A, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 3493-3499Conference paper, Published paper (Refereed)
Abstract [en]

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories - absolute and relative - and may involve two different types of camera models: central and non-central. State-of-the-art methods have been designed to solve separately these problems. This paper presents a unified framework that is able to solve any pose problem by alternating optimization techniques between two set of parameters, rotation and translation. In order to make this possible, it is necessary to define an objective function that captures the problem at hand. Since the objective function will depend on the rotation and translation it is not possible to solve it as a simple minimization problem. Hence the use of Alternating Minimization methods, in which the function will be alternatively minimized with respect to the rotation and the translation. We show how to use our framework in three distinct pose problems. Our methods are then benchmarked with both synthetic and real data, showing their better balance between computational time and accuracy.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 3493-3499
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-265466DOI: 10.1109/ICRA.2019.8793694ISI: 000494942302080Scopus ID: 2-s2.0-85071444116ISBN: 978-1-5386-6026-3 (print)OAI: oai:DiVA.org:kth-265466DiVA, id: diva2:1378000
Conference
2019 International Conference on Robotics and Automation, ICRA 2019; Palais des Congres de Montreal, Montreal; Canada; 20 May 2019 through 24 May 2019
Note

QC 20191213

Available from: 2019-12-13 Created: 2019-12-13 Last updated: 2019-12-13Bibliographically approved

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Dos Santos Miraldo, Pedro

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