Position and Pose Estimation of Spherical Panoramic Image with Improved EPnP Algorithm

doi:10.11947/j.AGCS.2016.20150411

Abstract

Abstract: Spherical panoramic imaging can overcome the limitations of perspective imaging's range of view and achieve three-dimensional reconstruction and measurement with full coverage.The EPnP(efficient perspective-n-point) algorithm fit for ordinary image's position and pose estimation is improved and extended by this paper to put forward a robust and fast method to estimate spherical panoramic image's position and pose. Firstly,we construct the projection model of spherical panoramic image to extend the perspective plane imaging model of EPnP algorithm to the spherical imaging model;then with the improved EPnP algorithm basing on the condition equation that panoramic sphere center,image point and control point are collinear, we obtain the control points' coordinates in spherical panoramic image space; finally, we solve the spherical panoramic image's position and pose directly with the Horn absolute positioning algorithm. Compared with the position and pose estimation method of spherical panoramic image with the resection algorithm, the experiment results show that the method proposed in this paper can achieve higher robustness, higher efficiency without going through an iterative solution, and it can also achieve high accuracy with a few control points.Based on the panoramic camera stitching with non-strict center, the reprojection error can be controlled around 3.00 pixel level.

Key words: spherical panoramic image, position and pose estimation, EPnP(efficient perspective-n-point) algorithm

CLC Number:

P232

DENG Fei, WU Yousi, HU Yulei, CUI Hongxia. Position and Pose Estimation of Spherical Panoramic Image with Improved EPnP Algorithm[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(6): 677-684.

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