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Relative pose estim...
Relative pose estimation in binocular vision for a planar scene using inter-image homographies
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- Örnhag, Marcus Valtonen (författare)
- Lund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH
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- Heyden, Anders (författare)
- Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Lund University Research Groups
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Fred, Ana (redaktör/utgivare)
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di Baja, Gabriella Sanniti (redaktör/utgivare)
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De Marsico, Maria (redaktör/utgivare)
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(creator_code:org_t)
- SCITEPRESS - Science and Technology Publications, 2018
- 2018
- Engelska 8 s.
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Ingår i: ICPRAM 2018 - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods. - : SCITEPRESS - Science and Technology Publications. - 9789897582769 ; 2018-January, s. 568-575
- Relaterad länk:
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http://dx.doi.org/10... (free)
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https://doi.org/10.5...
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https://lup.lub.lu.s...
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https://doi.org/10.5...
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Abstract
Ämnesord
Stäng
- In this paper we consider a mobile platform with two cameras directed towards the floor mounted the same distance from the ground, assuming planar motion and constant internal parameters. Earlier work related to this specific problem geometry has been carried out for monocular systems, and the main contribution of this paper is the generalization to a binocular system and the recovery of the relative translation and orientation between the cameras. The method is based on previous work on monocular systems, using sequences of inter-image homographies. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Binocular Vision
- Homography
- Planar Motion
- Relative Pose Estimation
- SLAM
- Visual Odometry
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)
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