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alemart / speedy-vision

GPU-accelerated Computer Vision for JavaScript.
Apache License 2.0
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Camera pose estimation from homography matrix #39

Closed derfabse closed 2 years ago

derfabse commented 2 years ago

Hi, thanks for this fantastic library. I was wondering if there is a way to estimate the camera pose (camera drift between two frames) from the homography matrix for SLAM.

alemart commented 2 years ago

Hi, thanks for this fantastic library.

Thank you for your comment.

I was wondering if there is a way to estimate the camera pose (camera drift between two frames) from the homography matrix for SLAM.

Even though the library doesn't provide camera routines at this time, you can estimate the pose using a planar homography if you have a calibrated camera. The following reference discusses the subject:

Marchand, E., Uchiyama, H., & Spindler, F. (2015). Pose estimation for augmented reality: a hands-on survey. IEEE transactions on visualization and computer graphics, 22(12), 2633-2651.