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Planar motion bundl...
Planar motion bundle adjustment
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- Örnhag, Marcus Valtonen (author)
- 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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- Wadenbäck, Mårten (author)
- Gothenburg University,Göteborgs universitet,University of Gothenburg,Chalmers University of Technology,Chalmers tekniska högskola,Institutionen för matematiska vetenskaper, Tillämpad matematik och statistik,Department of Mathematical Sciences, Applied Mathematics and Statistics
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Fred, Ana (editor)
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De Marsico, Maria (editor)
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di Baja, Gabriella Sanniti (editor)
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(creator_code:org_t)
- SCITEPRESS - Science and Technology Publications, 2019
- 2019
- English 8 s.
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In: ICPRAM 2019 - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods. - : SCITEPRESS - Science and Technology Publications. - 9789897583513 ; , s. 24-31
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Abstract
Subject headings
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- In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates the planar motion constraint, and devise a scheme that utilises the sparse structure of the problem. Experiments are carried out on real data and the proposed algorithm shows an improvement compared to established generic methods.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
- NATURVETENSKAP -- Matematik -- Beräkningsmatematik (hsv//swe)
- NATURAL SCIENCES -- Mathematics -- Computational Mathematics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Keyword
- Bundle Adjustment
- Planar Motion
- Bundle Adjustment
Publication and Content Type
- kon (subject category)
- ref (subject category)
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