PnP and RANSAC for Robust Pose Estimation

S9 – Special Topics on Perception and Robotics

 PnP and RANSAC for Robust Pose Estimation
Where is the object?
Given the image of an object taken by a camera and the object’s 3D model,
estimate the 3D pose of the object in the camera frame.

Object

3D to 2D
correspondences

Pose ?

3D model

2
S9 – STPR
 PnP and RANSAC for Robust Pose Estimation
Where is the object? 3D-to-2D correspondences with mismatches.
Given the image of an object taken by a camera and the object’s 3D model,
estimate the 3D pose of the object in the camera frame.

Object

3D to 2D
correspondences
with mismatches

Pose ?

3D model

3
S9 – STPR
 PnP and RANSAC for Robust Pose Estimation
PnP-DLT-RANSAC. 3D-to-2D correspondences with mismatches.

Object

3D to 2D
correspondences
with mismatches

Pose ?

3D model

4
S9 – STPR
 PnP and RANSAC for Robust Pose Estimation
PnP-DLT-RANSAC. 3D-to-2D correspondences with mismatches.

Let’s develop the steps

of the algorithm!

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 PnP and RANSAC for Robust Pose Estimation
PnP-DLT-RANSAC. Parameters and variables.

00 Given set of the 3D-to-2D matches

01 Number of the matches

02 Minimum number of the matches required for PnP

03 Probability that a sample set contains only correct matches

04 Maximum number of iterations to stop the loop

(updated in the loop)

05 Iteration counter of the loop

06 Threshold for the consensus set

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 PnP and RANSAC for Robust Pose Estimation
PnP-DLT-RANSAC. Algorithm.
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 PnP and RANSAC for Robust Pose Estimation
PnP-DLT-RANSAC. Algorithm.

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 Exercise. Implement the PnP-DLT-RANSAC algorithm to estimate the object’s pose
in the presence of mismatches.

Where is the object? 3D-to-2D correspondences with mismatches.

Given the image of an object taken by a camera and the object’s 3D model,
estimate the 3D pose of the object in the camera frame.

Object

3D to 2D
correspondences
with mismatches

Pose ?

3D model

9
S9 – STPR