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access icon free Single-camera pose estimation using mirage

© The Institution of Engineering and Technology
Received 07/09/2017, Accepted 13/03/2018, Revised 06/02/2018, Published 15/03/2018

Recently, mirage pose estimation method was proposed for multi-camera systems. Multi-camera mirage analytically solves a system of linear equations for six pose parameters in O(n) time. Mirage promises to execute in real time with high accuracy and shows lower rotational and translational errors compared to eight other well-known perspective-n-points (PnP) methods. However, the simulated tests and real experiments showed that, in case of a single camera, the analytical system of linear equations is not solvable due to the reduced rank of the linear system that is obtained by the formulation. In this study, an important revision to mirage is proposed to support single camera systems properly. The results of simulations and real experiments demonstrate smaller pose estimation errors compared to a group of eight well-known state-of-the-art PnP methods.

Inspec keywords: cameras; atmospheric optics; light refraction; pose estimation

Other keywords: linear equation; single-camera pose estimation; perspective-n-points method; mirage pose estimation method; PnP method; multicamera mirage system

Subjects: Image sensors; Computer vision and image processing techniques; Image recognition

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