Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes
Istvan Gergo Gal Daniel Barath Levente Hajder Istvan Gergo Gal Daniel Barath Levente Hajder
We propose novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first, second and third classes of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the fourth class, the plane is orthogonal to the ground with unknown normal, e.g., it is a...