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Article

A Novel Method for the Absolute Pose Problem with Pairwise Constraints

by 1,†, 2,3,†, 2,3, 1, 1,4 and 2,3,*
1
Chair of Robotics, Artificial Intelligence and Real-time Systems, Department of Informatics, Technical University of Munich, 85748 Garching, Munich, Germany
2
Digital Medical Research Center, School of Basic Medical Sciences, Fudan University, Shanghai 200032, China
3
Shanghai Key Laboratory of Medical Imaging Computing and Computer Assisted Intervention, Shanghai 200032, China
4
College of Automotive Studies, Tongji University, Shanghai 200092, China
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Remote Sens. 2019, 11(24), 3007; https://doi.org/10.3390/rs11243007
Received: 7 November 2019 / Revised: 8 December 2019 / Accepted: 11 December 2019 / Published: 13 December 2019
(This article belongs to the Section Remote Sensing Image Processing)
Absolute pose estimation from corrupted point correspondences is typically a problem of estimating parameters from outlier-contaminated data. Conventionally, for a fixed dimensionality d and the number of measurements N, a robust estimation problem cannot be solved exactly faster than O ( N d ) . Furthermore, it is almost impossible to remove d from the exponent of the runtime of a globally optimal algorithm. However, absolute pose estimation is a geometric parameter estimation problem, and thus has special constraints. In this paper, we consider pairwise constraints and propose a novel algorithm utilizing global optimization method Branch-and-Bound (BnB) for solving the absolute pose estimation problem. Concretely, we first decouple the rotation and the translation subproblems by utilizing the pairwise constraints, and then we solve the rotation subproblem using the BnB algorithm. Lastly, we estimate the translation based on the optimal rotation by using another BnB algorithm. The proposed algorithm has an approximately linear complexity in the number of correspondences at a given outlier ratio. The advantages of our method were demonstrated via thorough testing on both synthetic and real-world data. View Full-Text
Keywords: branch-and-bound; camera pose estimation; pairwise constraints; robust estimation branch-and-bound; camera pose estimation; pairwise constraints; robust estimation
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MDPI and ACS Style

Liu, Y.; Li, X.; Wang, M.; Knoll, A.; Chen, G.; Song, Z. A Novel Method for the Absolute Pose Problem with Pairwise Constraints. Remote Sens. 2019, 11, 3007. https://doi.org/10.3390/rs11243007

AMA Style

Liu Y, Li X, Wang M, Knoll A, Chen G, Song Z. A Novel Method for the Absolute Pose Problem with Pairwise Constraints. Remote Sensing. 2019; 11(24):3007. https://doi.org/10.3390/rs11243007

Chicago/Turabian Style

Liu, Yinlong, Xuechen Li, Manning Wang, Alois Knoll, Guang Chen, and Zhijian Song. 2019. "A Novel Method for the Absolute Pose Problem with Pairwise Constraints" Remote Sensing 11, no. 24: 3007. https://doi.org/10.3390/rs11243007

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