本文提出了一种通用的六自由度摄像机位姿估计方法，该方法既适用于针孔摄像机，也适用于鱼眼摄像机。与现有方法不同的是，该方法利用三维点在世界坐标系中的相对位置而不是绝对坐标，具有唯一解。结合径向对称投影模型，将POSIT（Pose from Orthography and Scaling with Iteration）算法的适用范围推广到鱼眼相机。基于针孔摄像机和鱼眼摄像机的投影模型，推导了它们之间的像点关系。通过四个非共面物点及其对应的像点，可以得到适用于不同相机的通用位姿表达式。迭代计算准确的估计结果。在合成数据和真实数据上的实验结果表明，该方法的位姿估计结果比现有方法更稳定、更准确。源代码可在https://github.com/k032131/EPOSIT上获得。
英文摘要：
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in the world coordinate system are employed in our method, and it has a unique solution. The application scope of POSIT (Pose from Orthography and Scaling with Iteration) algorithm is generalized to fish-eye cameras by combining with the radially symmetric projection model. The image point relationship between the pinhole camera and the fish-eye camera is derived based on their projection model. The general pose expression which fits for different cameras can be acquired by four noncoplanar object points and their corresponding image points. Accurate estimation results are calculated iteratively. Experimental results on synthetic and real data show that the pose estimation results of our method are more stable and accurate than state-of-the-art methods. The source code is available at https://github.com/k032131/EPOSIT.
SDGE: Stereo Guided Depth Estimation for 360$^\circ$ Camera Sets
School of Computer Science and Technology, Harbin Institute of Technology（哈尔滨工业大学计算机科学与技术学院）；SZ DJI Technology Co., Ltd.（深圳市大疆创新科技有限公司）；The University of New South Wales（新南威尔士大学）
Every Camera Effect, Every Time, All at Once: 4D Gaussian Ray Tracing for Physics-based Camera Effect Data Generation
University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；National Yang Ming Chiao Tung University（国立阳明交通大学）；National Central University（国立中央大学）；Research Center for Information Technology Innovation, Academia Sinica（学术院资讯科技创新研究中心）
FishBEV: Distortion-Resilient Bird's Eye View Segmentation with Surround-View Fisheye Cameras
College of Computer Science, Nankai University（南开大学计算机科学学院）；Key Laboratory of Data and Intelligent System Security, Ministry of Education, China（教育部数据与智能系统安全重点实验室）；School of Cyber Security, University of Science and Technology of China（中国科学技术大学网络安全学院）；Haihe Lab of ITAI, Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所海河实验室）
