TY - GEN
T1 - Newton-PnP
T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
AU - Jubran, Ibrahim
AU - Fares, Fares
AU - Alfassi, Yuval
AU - Ayoub, Firas
AU - Feldman, Dan
N1 - Publisher Copyright: © 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in real-time but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <25) to it. This tiny micro-processor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included.
AB - The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in real-time but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <25) to it. This tiny micro-processor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included.
UR - http://www.scopus.com/inward/record.url?scp=85146307319&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/IROS47612.2022.9981922
DO - https://doi.org/10.1109/IROS47612.2022.9981922
M3 - منشور من مؤتمر
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 13363
EP - 13370
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Y2 - 23 October 2022 through 27 October 2022
ER -