论文标题
用视觉镜头透视模型消失的姿势计算姿势
Calculating Pose with Vanishing Points of Visual-Sphere Perspective Model
论文作者
论文摘要
该方法的目的是使用几何技术直接获得已知矩形目标的姿势矩阵，而无需估计。该方法专门针对超过180°视场的实时，极端成像设置（例如鱼眼相机视图）量身定制。引入的算法采用几何代数来确定一对共面平行线的姿势（理想情况下是矩形中的切线对）。这是通过计算视觉单元球上消失点的，这对应于姿势矩阵向量。该算法可以确定视图坐标的视觉透视模型映射，因此可以确定极失真的视图源的姿势，而无需事先整流。可以使用透视图查找或参数通用透视失真模型进行映射，该模型也在本文中介绍。结果是一个可靠的姿势矩阵计算，可以使用微控制器在嵌入式系统上执行，提供高精度和低潜伏期。该方法可以进一步扩展到立方目标设置，以进行全面的摄像机校准。在需要低潜伏期和极端观看角度的其他应用中，它也可能被证明是有价值的。
The goal of the proposed method is to directly obtain a pose matrix of a known rectangular target, without estimation, using geometric techniques. This method is specifically tailored for real-time, extreme imaging setups exceeding 180° field of view, such as a fish-eye camera view. The introduced algorithm employs geometric algebra to determine the pose for a pair of coplanar parallel lines (ideally a tangent pair as in a rectangle). This is achieved by computing vanishing points on a visual unit sphere, which correspond to pose matrix vectors. The algorithm can determine pose for an extremely distorted view source without prior rectification, owing to a visual-sphere perspective model mapping of view coordinates. Mapping can be performed using either a perspective map lookup or a parametric universal perspective distortion model, which is also presented in this paper. The outcome is a robust pose matrix computation that can be executed on an embedded system using a microcontroller, offering high accuracy and low latency. This method can be further extended to a cubic target setup for comprehensive camera calibration. It may also prove valuable in other applications requiring low latency and extreme viewing angles.
