Skip to Main content Skip to Navigation
Conference papers

Relative Pose Estimation and Planar Reconstruction via Superpixel-Driven Multiple Homographies

Xi Wang 1 Marc Christie 1 Eric Marchand 2
1 MIMETIC - Analysis-Synthesis Approach for Virtual Human Simulation
UR2 - Université de Rennes 2, Inria Rennes – Bretagne Atlantique , IRISA-D6 - MEDIA ET INTERACTIONS
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper proposes a novel method to simultaneously perform relative camera pose estimation and planar reconstruction of a scene from two RGB images. We start by extracting and matching superpixel information from both images and rely on a novel multi-model RANSAC approach to estimate multiple homographies from superpixels and identify matching planes. Ambiguity issues when performing homogra-phy decomposition are handled by proposing a voting system to more reliably estimate relative camera pose and plane parameters. A non-linear optimization process is also proposed to perform bundle adjustment that exploits a joint representation of homographies and works both for image pairs and whole sequences of image (vSLAM). As a result, the approach provides a mean to perform a dense 3D plane reconstruction from two RGB images only without relying on RGB-D inputs or strong priors such as Manhattan assumptions, and can be extented to handle sequences of images. Our results compete with keypoint-based techniques such as ORB-SLAM while providing a dense representation and are more precise than direct and semi-direct pose estimation techniques used in LSD-SLAM or DPPTAM.
Document type :
Conference papers
Complete list of metadata

Cited literature [37 references]  Display  Hide  Download

https://hal.inria.fr/hal-02915045
Contributor : Eric Marchand <>
Submitted on : Thursday, August 13, 2020 - 2:09:09 PM
Last modification on : Thursday, September 3, 2020 - 11:41:05 AM
Long-term archiving on: : Monday, November 30, 2020 - 7:12:35 PM

File

IROS20_1630_FI.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02915045, version 1

Citation

Xi Wang, Marc Christie, Eric Marchand. Relative Pose Estimation and Planar Reconstruction via Superpixel-Driven Multiple Homographies. IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. pp.1-8. ⟨hal-02915045⟩

Share

Metrics

Record views

209

Files downloads

568