Relative Pose from Deep Learned Depth and a Single Affine Correspondence

원문 초록

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and affine features, two new constraints on the camera pose are derived. The proposed solver is usable within 1-point RANSAC approaches. Thus, the processing time of the robust estimation is linear in the number of correspondences and, therefore, orders of magnitude faster than by using traditional approaches. The proposed 1AC+D solver is tested both on synthetic data and on 110395 publicly available real image pairs where we used an off-the-shelf monocular depth network to provide up-to-scale depth per pixel. The proposed 1AC+D leads to similar accuracy as traditional approaches while being significantly faster. When solving large-scale problems, e.g., pose-graph initialization for Structure-from-Motion (SfM) pipelines, the overhead of obtaining ACs and monocular depth is negligible compared to the speed-up gained in the pairwise geometric verification, i.e., relative pose estimation. This is demonstrated on scenes from the 1DSfM dataset using a state-of-the-art global SfM algorithm. Source code: https://github.com/eivan/one-ac-pose