Automatic Camera Pose Estimation by Key-Point Matching of Reference Objects

Automatic Camera Pose Estimation by Key-Point Matching of Reference Objects

Zeng, Jinchen (Student TU Delft)
Butler, R.M. (TU Delft Medical Instruments & Bio-Inspired Technology)
van den Dobbelsteen, J.J. (TU Delft Medical Instruments & Bio-Inspired Technology)
Hendriks, B.H.W. (TU Delft Medical Instruments & Bio-Inspired Technology; Philips Research Laboratories)
van der Elst, M. (TU Delft Support Biomechanical Engineering; Reinier de Graaf Gasthuis)
Dauwels, J.H.G. (TU Delft Signal Processing Systems)

2023

In this paper, we aim to design an automatic camera pose estimation pipeline for clinical spaces such as catheterization laboratories. Our proposed pipeline exploits Scaled-YOLOv4 to detect fixed objects. We adopt the self-supervised key-point detector SuperPoint in combination with SuperGlue, a keypoint matching technique based on graph neural networks. Thus, we match key-points on input images with annotated reference points. Reference points are chosen on fixed objects in the scene, such as corners of door posts or windows. The point-correspondences between the image coordinates and the 3D coordinates are applied to the Perspective-n-Point algorithm to estimate the pose of each camera. Compared with other camera pose estimation methods, the proposed pipeline does not require the construction of 3D point-cloud model of the scene or placing a polyhedron object in the scene before each required calibration. Using videos from real procedures, we show that the pipeline can estimate the camera pose with high accuracy.

Camera calibration
camera pose estimation
Perspective-n-Point
3D geometry

http://resolver.tudelft.nl/uuid:166ca190-a485-46fc-8ea7-050eb1792438

https://doi.org/10.1109/ICASSP49357.2023.10095197

IEEE, Piscataway

2023-11-05

978-1-7281-6328-4

Proceedings of the ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

48th IEEE International Conference on Acoustics, Speech and Signal Processing 2023, 2023-06-04 → 2023-06-10, Rhodes Island, Greece

ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings, 1520-6149, 2023-June

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2023 Jinchen Zeng, R.M. Butler, J.J. van den Dobbelsteen, B.H.W. Hendriks, M. van der Elst, J.H.G. Dauwels