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  4. Accurate single image multi-modal camera pose estimation
 
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2010
Conference Paper
Title

Accurate single image multi-modal camera pose estimation

Abstract
A well known problem in photogrammetry and computer vision is the precise and robust determination of camera poses with respect to a given 3D model. In this work we propose a novel multi-modal method for single image camera pose estimation with respect to 3D models with intensity information (e.g., LiDAR data with reectance information). We utilize a direct point based rendering approach to generate synthetic 2D views from 3D datasets in order to bridge the dimensionality gap. The proposed method then establishes 2D/2D point and local region correspondences based on a novel self-similarity distance measure. Correct correspondences are robustly identified by searching for small regions with a similar geometric relationship of local self-similarities using a Generalized Hough Transform. After backprojection of the generated features into 3D a standard Perspective-n-Points problem is solved to yield an initial camera pose. The pose is then accurately refined using an intensity based 2D/3D registration approach. An evaluation on Vis/IR 2D and airborne and terrestrial 3D datasets shows that the proposed method is applicable to a wide range of different sensor types. In addition, the approach outperforms standard global multi-modal 2D/3D registration approaches based on Mutual Information with respect to robustness and speed. Potential applications are widespread and include for instance multispectral texturing of 3D models, SLAM applications, sensor data fusion and multi-spectral camera calibration and super-resolution applications.
Author(s)
Bodensteiner, C.
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Hebel, Marcus
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Arens, M.
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Mainwork
Workshop on Reconstruction and Modeling of Large-Scale 3D Virtual Environments 2010. CD-ROM  
Conference
Workshop on Reconstruction and Modeling of Large-Scale 3D Virtual Environments 2010  
European Conference on Computer Vision (ECCV) 2010  
File(s)
Download (8.96 MB)
Rights
Use according to copyright law
DOI
10.24406/publica-fhg-367226
Language
English
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Keyword(s)
  • multi-modal registration

  • pose estimation

  • multi-modal 2D/3D correspondence

  • self-similarity distance measure

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