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Authors: Sung-In Choi and Soon-Yong Park

Affiliation: Kyungpook National University, Korea, Republic of

Keyword(s): Visual Odometry, Simultaneous Localization and Mapping, Robot Motion.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Geometry and Modeling ; Image-Based Modeling ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

Abstract: Several motion estimation algorithms, such as n-point and perspective n-point (PnP) have been introduced over the last few decades to solve relative and absolute pose estimation problems. Since the n-point algorithms cannot decide the real scale of robot motion, the PnP algorithms are often addressed to find the absolute scale of motion. This paper introduces a new PnP algorithm which uses only two 3D-2D correspondences by considering only planar motion. Experiment results prove that the proposed algorithm solves the absolute motion in real scale with high accuracy and less computational time compared to previous algorithms.

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Paper citation in several formats:
Choi, S. and Park, S. (2015). A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion. In Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2015) ISBN 978-989-758-091-8; ISSN 2184-4321, pages 643-647. DOI: 10.5220/0005360406430647

@conference{visapp15,
author={Sung{-}In Choi. and Soon{-}Yong Park.},
title={A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2015)},
year={2015},
pages={643-647},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005360406430647},
isbn={978-989-758-091-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2015)
TI - A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion
SN - 978-989-758-091-8
IS - 2184-4321
AU - Choi, S.
AU - Park, S.
PY - 2015
SP - 643
EP - 647
DO - 10.5220/0005360406430647