{"id":118487,"date":"2021-10-31T23:11:37","date_gmt":"2021-10-31T14:11:37","guid":{"rendered":"http:\/\/175.125.95.178\/ai-in-signal\/18487\/"},"modified":"2026-04-07T19:00:26","modified_gmt":"2026-04-07T10:00:26","slug":"18487","status":"publish","type":"ai-in-signal","link":"http:\/\/ee.presscat.kr\/en\/ai-in-signal\/18487\/","title":{"rendered":"Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick (Prof. In-So Kweon)"},"content":{"rendered":"<p style=\"text-align:justify;margin-bottom:11px\"><span style=\"font-size:10pt\"><span style=\"line-height:107%\"><span>Conference\/Journal, Year: ICRA, 2020<\/span><\/span><\/span><\/p>\n<p style=\"text-align:justify;margin-bottom:11px\"><span style=\"font-size:10pt\"><span style=\"line-height:107%\"><span>Taking selfies has become a photographic trend nowadays. We envision the emergence of the \u201cvideo selfie\u201d capturing a short continuous video clip (or burst photography) of the user, themselves. A selfie stick is usually used, whereby a camera is mounted on a stick for taking selfie photos. In this scenario, we observe that the camera typically goes through a special trajectory along a sphere surface. Motivated by this observation, in this work, we propose an efficient and globally optimal relative camera pose estimation between a pair of two images captured by a camera mounted on a selfie stick. We exploit the special geometric structure of the camera motion constrained by a selfie stick and define its motion as spherical joint motion. By the new parametrization and calibration scheme, we show that the pose estimation problem can be reduced to a 3-DoF (degrees of freedom) search problem, instead of a generic 6-DoF problem. This allows us to derive a fast branch-and-bound global optimization, which guarantees a global optimum. Thereby, we achieve efficient and robust estimation even in the presence of outliers. By experiments on both synthetic and real-world data, we validate the performance as well as the guaranteed optimality of the proposed method.<\/span><\/span><\/span><\/p>\n<p style=\"text-align:justify;margin-bottom:11px\"><span style=\"font-size:10pt\"><span style=\"line-height:107%\"><span><\/p>\n<div class=\"\"><img decoding=\"async\" class=\"\" src=\"\/wp-content\/uploads\/drupal\/\uad8c\uc778\uc18c\uad50\uc218\ub2d86.png\" alt=\"\" title=\"\"><\/div>\n<p><\/span><\/span><\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>751<\/p>\n","protected":false},"featured_media":0,"template":"","class_list":["post-118487","ai-in-signal","type-ai-in-signal","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"http:\/\/ee.presscat.kr\/en\/wp-json\/wp\/v2\/ai-in-signal\/118487","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/ee.presscat.kr\/en\/wp-json\/wp\/v2\/ai-in-signal"}],"about":[{"href":"http:\/\/ee.presscat.kr\/en\/wp-json\/wp\/v2\/types\/ai-in-signal"}],"wp:attachment":[{"href":"http:\/\/ee.presscat.kr\/en\/wp-json\/wp\/v2\/media?parent=118487"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}