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HARD-PnP: PnP Optimization Using a Hybrid Approximate Representation

Hadfield, Simon, Lebeda, Karel and Bowden, Richard (2018) HARD-PnP: PnP Optimization Using a Hybrid Approximate Representation IEEE transactions on Pattern Analysis and Machine Intelligence.

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This paper proposes a Hybrid Approximate Representation (HAR) based on unifying several efficient approximations of the generalized reprojection error (which is known as the gold standard for multiview geometry). The HAR is an over-parameterization scheme where the approximation is applied simultaneously in multiple parameter spaces. A joint minimization scheme “HAR-Descent” can then solve the PnP problem efficiently, while remaining robust to approximation errors and local minima. The technique is evaluated extensively, including numerous synthetic benchmark protocols and the real-world data evaluations used in previous works. The proposed technique was found to have runtime complexity comparable to the fastest O(n) techniques, and up to 10 times faster than current state of the art minimization approaches. In addition, the accuracy exceeds that of all 9 previous techniques tested, providing definitive state of the art performance on the benchmarks, across all 90 of the experiments in the paper and supplementary material.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
Lebeda, Karel
Date : 2018
Funders : Engineering and Physical Sciences Research Council (EPSRC)
DOI : 10.1109/TPAMI.2018.2806446
Grant Title : Learning to recognise dynamic visual content
Copyright Disclaimer : © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Uncontrolled Keywords : PnP; Perspective-n-point; Camera resectioning; Overparameterization; Multiview geometry
Depositing User : Clive Harris
Date Deposited : 09 Feb 2018 09:13
Last Modified : 11 Dec 2018 11:23

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