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Article

Pose Estimation of Omnidirectional Camera with Improved EPnP Algorithm

College of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, China
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Author to whom correspondence should be addressed.
Academic Editor: Jose Manuel Menéndez García
Sensors 2021, 21(12), 4008; https://doi.org/10.3390/s21124008
Received: 7 March 2021 / Revised: 14 May 2021 / Accepted: 17 May 2021 / Published: 10 June 2021
(This article belongs to the Special Issue Computer Vision Based Smart Sensing)
The omnidirectional camera, having the advantage of broadening the field of view, realizes 360° imaging in the horizontal direction. Due to light reflection from the mirror surface, the collinearity relation is altered and the imaged scene has severe nonlinear distortions. This makes it more difficult to estimate the pose of the omnidirectional camera. To solve this problem, we derive the mapping from omnidirectional camera to traditional camera and propose an omnidirectional camera linear imaging model. Based on the linear imaging model, we improve the EPnP algorithm to calculate the omnidirectional camera pose. To validate the proposed solution, we conducted simulations and physical experiments. Results show that the algorithm has a good performance in resisting noise. View Full-Text
Keywords: omnidirectional camera; pose estimation; Perspective-n-Point omnidirectional camera; pose estimation; Perspective-n-Point
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MDPI and ACS Style

Gong, X.; Lv, Y.; Xu, X.; Wang, Y.; Li, M. Pose Estimation of Omnidirectional Camera with Improved EPnP Algorithm. Sensors 2021, 21, 4008. https://doi.org/10.3390/s21124008

AMA Style

Gong X, Lv Y, Xu X, Wang Y, Li M. Pose Estimation of Omnidirectional Camera with Improved EPnP Algorithm. Sensors. 2021; 21(12):4008. https://doi.org/10.3390/s21124008

Chicago/Turabian Style

Gong, Xuanrui; Lv, Yaowen; Xu, Xiping; Wang, Yuxuan; Li, Mengdi. 2021. "Pose Estimation of Omnidirectional Camera with Improved EPnP Algorithm" Sensors 21, no. 12: 4008. https://doi.org/10.3390/s21124008

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