Partially calibrated semi-generalized pose from hybrid point correspondences

TL;DR

This paper introduces new solvers for estimating the semi-generalized pose of a partially calibrated camera using hybrid point correspondences, outperforming existing methods especially under noisy conditions.

Contribution

It develops and evaluates novel polynomial solvers for various camera configurations in semi-generalized pose estimation, addressing previously unsolved cases.

Findings

The proposed solvers outperform existing absolute pose methods under noisy conditions.

Three new solvers (H51f, H32f, H13f) are validated on synthetic and real data.

The solvers effectively handle different combinations of 2D-2D and 2D-3D correspondences.

Abstract

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on the state-of-the-art methods for generating efficient polynomial solvers. We evaluate the three most promising solvers, i.e., the H51f solver with five 2D-2D correspondences and one 2D-3D correspondence viewed by the same camera inside generalized camera, the H32f solver with three 2D-2D and two 2D-3D correspondences, and the H13f solver with one 2D-2D and three 2D-3D correspondences, on synthetic and real data. We show that in the presence of noise in the 3D points these solvers provide better estimates than the corresponding absolute pose solvers.