2019/06/29 by Alexander Vakhitov, Vakhitov, Alexander, Victor Lempitsky +3
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO) #Robotics and Sensor-Based Localization #cs.CV #cs.RO
paper · pdf · doi:10.48550/arxiv.1907.00276
European Conference on Computer Vision 2018. Project page: https://alexandervakhitov.github.io/sego/
arxiv created 2019/06/29 · openalex publication_date 2019/06/29 · arxiv updated 2019/07/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work, we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal set consists of three point or line features and each of them has three known projections on two stereo cameras. We validate the importance of this formulation for practical purposes in our experiments with motion estimation. We then present a complete classification of minimal cases with three point or line correspondences each having three projections, and present two new solvers that can handle all such cases. We demonstrate a considerable effect from the integration of the new solvers into a visual SLAM system.