Estimation of camera poses by parabolic motion
吕耀文 LV Yao-wen, 王建立 WANG Jian-li, 王昊京 Wang Hao-jing, 刘维 Liu Wei, Liang Wu, 曹景太 Cao Jing-tai · Optics and Precision Engineering · 2014
A new method was proposed for the camera pose estimation based on specific geometric properties of parabolic motion. The intersection of lines which was the projections of trajectories of a free falling subject from different locations was first calculated. According to the nature of the vanishing point, the intersection was proved to be the vanishing point of the Earth's gravity direction. Then, the equation of conic obtained by projecting parabolic trajectory on the image plane was solved using Sampson approximation. Finally, under the condition of known intrinsic parameters, the camera pose was evaluated by using the geometric properties of vanishing point and vanishing line hidden in the projective conic. The experiments with numerical simulation as well as with real images indicate that the method is correct and feasible. By the proposed method, experimental results show that the mean error of evaluated rotation axis is 0.017 rad, and the rotation angle is 0.007 rad, and the mean error of translation direction is 0.071 rad as compared to the traditional checkerboard method. Results indicate that the proposed method can be used for camera pose estimation in computer vision.