DC Field | Value | Language |
---|---|---|
dc.contributor.author | Joo, Kyungdon | ko |
dc.contributor.author | Li, Hongdong | ko |
dc.contributor.author | Oh, Tae-Hyun | ko |
dc.contributor.author | Bok, Yunsu | ko |
dc.contributor.author | Kweon, In-So | ko |
dc.date.accessioned | 2020-12-18T05:50:39Z | - |
dc.date.available | 2020-12-18T05:50:39Z | - |
dc.date.created | 2020-12-01 | - |
dc.date.created | 2020-12-01 | - |
dc.date.issued | 2020-05 | - |
dc.identifier.citation | IEEE International Conference on Robotics and Automation, pp.4983 - 4989 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/278693 | - |
dc.description.abstract | Taking selfies has become a photographic trend nowadays. We envision the emergence of the video selfie capturing a short continuous video clip (or burst photography) of the user, themselves. A selfie stick is usually used, whereby a camera is mounted on a stick for taking selfie photos. In this scenario, we observe that the camera typically goes through a special trajectory along a sphere surface. Motivated by this observation, in this work, we propose an efficient and globally optimal relative camera pose estimation between a pair of two images captured by a camera mounted on a selfie stick. We exploit the special geometric structure of the camera motion constrained by a selfie stick and define its motion as spherical joint motion. By the new parametrization and calibration scheme, we show that the pose estimation problem can be reduced to a 3-DoF (degrees of freedom) search problem, instead of a generic 6-DoF problem. This allows us to derive a fast branch-and-bound global optimization, which guarantees a global optimum. Thereby, we achieve efficient and robust estimation even in the presence of outliers. By experiments on both synthetic and real-world data, we validate the performance as well as the guaranteed optimality of the proposed method. | - |
dc.language | English | - |
dc.publisher | IEEE International Conference on Robotics and Automation | - |
dc.title | Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick | - |
dc.type | Conference | - |
dc.identifier.wosid | 000712319503076 | - |
dc.identifier.scopusid | 2-s2.0-85092699294 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 4983 | - |
dc.citation.endingpage | 4989 | - |
dc.citation.publicationname | IEEE International Conference on Robotics and Automation | - |
dc.identifier.conferencecountry | FR | - |
dc.identifier.conferencelocation | Virtual | - |
dc.identifier.doi | 10.1109/ICRA40945.2020.9196921 | - |
dc.contributor.localauthor | Kweon, In-So | - |
dc.contributor.nonIdAuthor | Joo, Kyungdon | - |
dc.contributor.nonIdAuthor | Li, Hongdong | - |
dc.contributor.nonIdAuthor | Oh, Tae-Hyun | - |
dc.contributor.nonIdAuthor | Bok, Yunsu | - |
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