Active Camera Relocalization from a Single Reference Image without Hand-Eye Calibration

作者：Tian, Fei-peng; Feng, Wei^*; Zhang, Qian; Wang, Xiaowei; Sun, JiZhou; Loia, Vincenzo; Liu, Zhi-Qiang

来源：IEEE Transactions on Pattern Analysis and Machine Intelligence, 2019, 41(12): 2791-2806.

DOI：10.1109/TPAMI.2018.2870646

• Cameras
• Calibration
• Three-dimensional displays
• Simultaneous localization and mapping
• Robot vision systems
• Monitoring
• Active camera relocalization (ACR)
• 6D camera pose
• hand-eye calibration free
• computational rephotography
• fine-grained change monitoring
• cultural heritage
• preventive conservation

This paper studies active relocalization of 6D camera pose from a single reference image, a new and challenging problem in computer vision and robotics. Straightforward active camera relocalization (ACR) is a tricky and expensive task that requires elaborate hand-eye calibration on precision robotic platforms. In this paper, we show that high-quality camera relocalization can be achieved in an active and much easier way. We propose a hand-eye calibration free approach to actively relocating the camera to the same 6D pose that produces the input reference image. We theoretically prove that, given bounded unknown hand-eye pose displacement, this approach is able to rapidly reduce both 3D relative rotational and translational pose between current camera and the reference one to an identical matrix and a zero vector, respectively. Based on these findings, we develop an effective ACR algorithm with fast convergence rate, reliable accuracy and robustness. Extensive experiments validate the effectiveness and feasibility of our approach on both laboratory tests and challenging real-world applications in fine-grained change monitoring of cultural heritages.

• 出版日期2019-12
• 单位天津大学