PSO Based Global Stable Solution to Relative Pose
Pages 313 - 318
Abstract
Different from the traditional data-driven methods, a new PSO based top-down robust solution for relative pose solution is proposed. Given five or more correspondences, a stable solution can always be calculated with two calibrated views by the proposed method, even with a large proportion of outliers. By taking advantage of the top-down scheme, this method is free from critical configurations. The experiment results show that this new method also has a higher or comparable precision to the classical 8 and 5 points methods under planar degeneration. In addition, the new method does not suffer from singular solution that the 5 points method may encounter. Several modifications upon the original PSO keep it away from local minima and find a global solution.
References
[1]
Longuet-Higgins, H.C., "A Computer Algorithm for Reconstructing a Scene from Two Projections", Nature, 1981, 293, (10), pp. 133--135.
[2]
Faugeras, O.D., "Three-Dimensional Computer Vision:A Geometric Viewpoint", MIT press, (1993)
[3]
Hartley, R. and Zisserman, A., "Multiple View Geometry in Computer Vision (Second Edition)", (Cambridge University Press, 2004)
[4]
Kruppa, E., "Zur Ermittlung Eines Objektes Aus Zwei Perspektiven Mit Innerer Orientierung", Sitz.-Ber. Akad. Wiss., Wien, Math. Naturw. Kl., Abt. IIa., 1913, 122, pp. 1939--1948.
[5]
Nistér, D., "An Efficient Solution to the Five-Point Relative Pose Problem", IEEE Transactions on Pattern Analysis and Machine Intelligence, 2004, 26, (6), pp. 756--770
[6]
Hartley, R. and Li, H., "An Efficient Hidden Variable Approach to Minimal-Case Camera Motion Estimation", IEEE Transactions on Pattern Analysis and Machine Intelligence, 2012, 34, (12), pp. 2303--2314.
[7]
Hartley, R., "In Defence of the 8 Point Algorithm", IEEE Transactions on Pattern Analysis and Machine Intelligence, 1997, 19, (6), pp. 580--593
[8]
Luong, Q.T. and Faugeras, O.D., "The Fundamental Matrix: Theory, Algorithm, and Stability Analysis", International journal of computer vision, 1996, 17, (1), pp. 43--75.
[9]
Torr, P.H.S. and Murray, D.W., "The Development and Comparison of Robust Methods for Estimating the Fundamental Matrix", International journal of computer vision, 1997, 24, (3), pp. 271--300.
[10]
Mikolajczyk, K. and Schmid, C., "A Performance Evaluation of Local Descriptors", IEEE Transactions on Pattern Analysis and Machine Intelligence, 2005, 27, (10), pp. 1615--1630
[11]
Horn, B.K.P., "Recovering Baseline and Orientation from Essential Matrix", Journal Optical Society of America, 1990.
[12]
Hartley, R. and Kahl, F., "Critical Configurations for Projective Reconstruction from Multiple Views", International journal of computer vision, 2007, 71, (1), pp. 5--47.
[13]
Poli, R., Kennedy, J., and Blackwell, T., "Particle Swarm Optimization", Swarm Intelligence, 2007, 1, (1), pp. 33--57.
[14]
Hartley, R., Trumpf, J., Dai, Y., and Li, H., "Rotation Averaging", International journal of computer vision, 2013, 103, (3), pp. 267--305.
[15]
Clerc, M. and Kennedy, J., " The Particle Swarm-Explosion, Stability, and Convergence in a Multidimensional Complex Space", IEEE Transactions on Evolutionary Computation, 2002, 6, (1), pp. 58--73.
[16]
Angeline, P., "Evolutionary Optimization Versus Particle Swarm Optimization: Philosophy and Performance Differences", in Proceedings of Evolutionary Programming (1998)
Index Terms
- PSO Based Global Stable Solution to Relative Pose
Recommendations
An enhanced particle swarm optimization with levy flight for global optimization
Enhanced PSO with levy flight.Random walk of the particles.High convergence rate.Provides solution accuracy and robust. Hüseyin Haklı and Harun Uguz (2014) proposed a novel approach for global function optimization using particle swarm optimization with ...
Non-parametric particle swarm optimization for global optimization
Proposing an improved PSO scheme called non-parametric particle swarm optimization (NP-PSO).Combining local and global topologies with two quadratic interpolation operations to increase the search ability in NP-PSO.Removing PSO parameters in the ...
A Novel PSO-DE-Based Hybrid Algorithm for Global Optimization
ICIC '08: Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Artificial IntelligenceThis paper presents a new hybrid global optimization algorithm PSODE combining particle swarm optimization (PSO) with differential evolution (DE). PSODE is a type of parallel algorithm, in which PSO and DE are executed in parallel to enhance the ...
Comments
Information & Contributors
Information
Published In
July 2014
430 pages
ISBN:9781450328104
DOI:10.1145/2632856
- General Chairs:
- Hanzi Wang,
- Larry Davis,
- Program Chairs:
- Wenwu Zhu,
- Stephan Kopf,
- Yanyun Qu,
- Publications Chairs:
- Jun Yu,
- Jitao Sang,
- Tao Mei
Copyright © 2014 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].
In-Cooperation
- NSF of China: National Natural Science Foundation of China
- Beijing ACM SIGMM Chapter
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 10 July 2014
Check for updates
Author Tags
Qualifiers
- Research-article
- Research
- Refereed limited
Conference
ICIMCS '14
ICIMCS '14: International Conference on Internet Multimedia Computing and Service
July 10 - 12, 2014
Xiamen, China
Acceptance Rates
Overall Acceptance Rate 163 of 456 submissions, 36%
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 35Total Downloads
- Downloads (Last 12 months)0
- Downloads (Last 6 weeks)0
Reflects downloads up to 21 Dec 2024
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign in