Authors: Raul Acuna,Volker Willert
ArXiv: 1803.03025
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DOI
Abstract URL: http://arxiv.org/abs/1803.03025v2
In this paper, we investigate the influence of the spatial configuration of a
number of $n \geq 4$ control points on the accuracy and robustness of space
resection methods, e.g. used by a fiducial marker for pose estimation. We find
robust configurations of control points by minimizing the first order perturbed
solution of the DLT algorithm which is equivalent to minimizing the condition
number of the data matrix. An empirical statistical evaluation is presented
verifying that these optimized control point configurations not only increase
the performance of the DLT homography estimation but also improve the
performance of planar pose estimation methods like IPPE and EPnP, including the
iterative minimization of the reprojection error which is the most accurate
algorithm. We provide the characteristics of stable control point
configurations for real-world noisy camera data that are practically
independent on the camera pose and form certain symmetric patterns dependent on
the number of points. Finally, we present a comparison of optimized
configuration versus the number of control points.