Kernkonzepte
Decoupled rotation and translation estimation improves accuracy in three-view pose estimation.
Zusammenfassung
Line features complement point features in man-made environments, enhancing pose estimation robustness. The proposed RT2PL algorithm decouples rotation and translation for improved accuracy. Experiments show superior performance over existing methods in both general and degenerate cases.
Statistiken
Experiments on synthetic data and real-world data show improved accuracy compared to existing methods.
Proposed method RT2PL outperforms PNEC in rotation and translation accuracy on KITTI datasets.
RT2PL enhances estimation accuracy on EuRoC datasets, especially in sequences with high-quality lines.
Zitate
"The proposed approach improves both rotation and translation accuracy compared to the classical trifocal-tensor-based method."
"RT2PL notably enhances estimation accuracy in sequences containing abundant high-quality lines."