From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation

• URL: http://arxiv.org/abs/2312.05995v2
• Date: Wed, 27 Mar 2024 18:21:12 GMT
• Title: From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation
• Authors: Javier Tirado-Garín, Javier Civera,
• Abstract summary: Estimating the relative camera pose from $n geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. We show that it is possible to directly estimate the correct relative camera pose from correspondences without needing a post-processing step. We validate our method through exhaustive synthetic and real-world experiments, confirming the efficacy, efficiency and accuracy of the proposed approach.
• Score: 9.192660643226372
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and 2) disambiguating among the four candidate relative poses that satisfy the epipolar geometry. In this paper, we demonstrate a novel approach that, for the first time, bypasses the second stage. Specifically, we show that it is possible to directly estimate the correct relative camera pose from correspondences without needing a post-processing step to enforce the cheirality constraint on the correspondences. Building on recent advances in certifiable non-minimal optimization, we frame the relative pose estimation as a Quadratically Constrained Quadratic Program (QCQP). By applying the appropriate constraints, we ensure the estimation of a camera pose that corresponds to a valid 3D geometry and that is globally optimal when certified. We validate our method through exhaustive synthetic and real-world experiments, confirming the efficacy, efficiency and accuracy of the proposed approach. Code is available at https://github.com/javrtg/C2P.

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