Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model

In this paper, a mixed probability inverse depth estimation method based on probabilistic graph model is proposed, which can effectively solve the problems of far distance from the camera center and long data tail in depth estimation. At the same time, not only the accuracy can be improved but also...

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Main Authors: Wenlei Liu, Sentang Wu, Xiaolong Wu, Kai Li
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/8730310/
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spelling doaj-729fc1d1719d445b903c5c2df34f95b32021-03-30T00:13:50ZengIEEEIEEE Access2169-35362019-01-017725917260310.1109/ACCESS.2019.29202788730310Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph ModelWenlei Liu0https://orcid.org/0000-0001-6425-9466Sentang Wu1Xiaolong Wu2Kai Li3School of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaNavigation and Control Technology Institute of NORINCO Group, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaIn this paper, a mixed probability inverse depth estimation method based on probabilistic graph model is proposed, which can effectively solve the problems of far distance from the camera center and long data tail in depth estimation. At the same time, not only the accuracy can be improved but also the robustness of inverse depth estimation can be developed. First, the triangle method was used to find the depth information and location of a point in space, and the inverse depth information was obtained as the initial information of inverse depth estimation. Then, the basic matrix in epipolar geometry was obtained by using the normalized eight-point algorithm, and the pose of a camera was obtained as the initial information of optimization. Next, the pose of the monocular camera was modeled by a factor graph model, and the pose estimation was transformed into an unconstrained optimization problem by using the transformation relationship between Lie group and Lie algebra to obtain the pose of the camera. Finally, the inverse depth obtained by using the Gauss-uniform mixed probability distribution based on the probability graph model was used to calculate the recurrence formula by approximate inference, which can facilitate the sequential processing of multiple images. The depth information was quantitatively measured and compared by using TUM datasets, and the length of space object was measured by using inverse depth information, thus the measurement accuracy of this method was indirectly verified. This method is characterized by strong robustness and high measurement accuracy in the environments with random interferences.https://ieeexplore.ieee.org/document/8730310/Mixed probability distribution modelfactor graphinverse depth estimationLie group and Lie algebrafundamental matrixcamera pose
collection DOAJ
language English
format Article
sources DOAJ
author Wenlei Liu
Sentang Wu
Xiaolong Wu
Kai Li
spellingShingle Wenlei Liu
Sentang Wu
Xiaolong Wu
Kai Li
Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
IEEE Access
Mixed probability distribution model
factor graph
inverse depth estimation
Lie group and Lie algebra
fundamental matrix
camera pose
author_facet Wenlei Liu
Sentang Wu
Xiaolong Wu
Kai Li
author_sort Wenlei Liu
title Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
title_short Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
title_full Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
title_fullStr Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
title_full_unstemmed Mixed Probability Inverse Depth Estimation Based on Probabilistic Graph Model
title_sort mixed probability inverse depth estimation based on probabilistic graph model
publisher IEEE
series IEEE Access
issn 2169-3536
publishDate 2019-01-01
description In this paper, a mixed probability inverse depth estimation method based on probabilistic graph model is proposed, which can effectively solve the problems of far distance from the camera center and long data tail in depth estimation. At the same time, not only the accuracy can be improved but also the robustness of inverse depth estimation can be developed. First, the triangle method was used to find the depth information and location of a point in space, and the inverse depth information was obtained as the initial information of inverse depth estimation. Then, the basic matrix in epipolar geometry was obtained by using the normalized eight-point algorithm, and the pose of a camera was obtained as the initial information of optimization. Next, the pose of the monocular camera was modeled by a factor graph model, and the pose estimation was transformed into an unconstrained optimization problem by using the transformation relationship between Lie group and Lie algebra to obtain the pose of the camera. Finally, the inverse depth obtained by using the Gauss-uniform mixed probability distribution based on the probability graph model was used to calculate the recurrence formula by approximate inference, which can facilitate the sequential processing of multiple images. The depth information was quantitatively measured and compared by using TUM datasets, and the length of space object was measured by using inverse depth information, thus the measurement accuracy of this method was indirectly verified. This method is characterized by strong robustness and high measurement accuracy in the environments with random interferences.
topic Mixed probability distribution model
factor graph
inverse depth estimation
Lie group and Lie algebra
fundamental matrix
camera pose
url https://ieeexplore.ieee.org/document/8730310/
work_keys_str_mv AT wenleiliu mixedprobabilityinversedepthestimationbasedonprobabilisticgraphmodel
AT sentangwu mixedprobabilityinversedepthestimationbasedonprobabilisticgraphmodel
AT xiaolongwu mixedprobabilityinversedepthestimationbasedonprobabilisticgraphmodel
AT kaili mixedprobabilityinversedepthestimationbasedonprobabilisticgraphmodel
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