Jia-le ZHOU, Bing ZHU, Zhi-lu WU. Camera pose estimation based on 2D image and 3D point cloud fusion[J]. Optics and Precision Engineering, 2022, 30(22): 2901
- Optics and Precision Engineering
- Vol. 30, Issue 22, 2901 (2022)
Fig. 1. Relationship between coordinate systems
Fig. 2. 3D sparse point cloud reconstruction and pose dataset construction
Fig. 3. Dense point cloud data construction
Fig. 4. Flow of multistage camera pose estimation
Fig. 5. Flow of RANSAC algorithm
Fig. 6. Structure dense scene regression network
Fig. 7. Result of scene regression
Fig. 8. Accuracy of pose estimation varies with the error threshold
Fig. 9. Pose estimation accuracy comparison（5 cm/5°）
Fig. 10. Results of median localization Errors
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Table 1. Detail of labcore dataset
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Table 2. Performance comparison of camera pose estimation algorithms
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Table 3. Time consumption comparison of camera pose estimation algorithms
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