Generalization of Parameter Recovery in Binocular Vision for a Planar Scene

• In this paper, we consider a mobile platform with two cameras directed towards the floor. In earlier work, this specific problem geometry has been considered under the assumption that the cameras have been mounted at the same height. This paper extends the previous work by removing the height constraint, as it is hard to realize in real-life applications. We develop a method based on an equivalent problem geometry, and show that much of previous work can be reused with small modification to account for the height difference. A fast solver for the resulting nonconvex optimization problem is devised. Furthermore, we propose a second method for estimating the height difference by constraining the mobile platform to pure translations. This is intended to simulate a calibration sequence, which is not uncommon to impose. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters comparable to previous work.

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

art (ämneskategori)

ref (ämneskategori)