Robust and Efficient Estimation of Absolute Camera Pose for Monocular Visual Odometry
Haoang Li,Wen Chen,Ji Zhao,Jean-Charles Bazin,Lei Luo,Zhe Liu,Yun-Hui Liu,Haoang Li,Wen Chen,Ji Zhao,Jean-Charles Bazin,Lei Luo,Zhe Liu,Yun-Hui Liu
Given a set of 3D-to-2D point correspondences corrupted by outliers, we aim to robustly estimate the absolute camera pose. Existing methods robust to outliers either fail to guarantee high robustness and efficiency simultaneously, or require an appropriate initial pose and thus lack generality. In contrast, we propose a novel approach based on the robust "L2-minimizing estimate" (L2E) loss. We fir...
