Motion estimation by decoupling rotation and translation in catadioptric vision

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Previous works have shown that catadioptric systems are particularly suited for egomotion estimation thanks to their large field of view and thus numerous algorithms have already been proposed in the literature to estimate the motion. In this paper, we present a method for estimating six degrees of freedom camera motions from central catadioptric images in man-made environments. State-of-the-art methods can obtain very impressive results. However, our proposed system provides two strong advantages over the existing methods: first, it can implicitly handle the difficulty of planar/non-planar scenes, and second, it is computationally much less expensive. The only assumption deals with the presence of parallel straight lines which is reasonable in a man-made environment. More precisely, we estimate the motion by decoupling the rotation and the translation. The rotation is computed by an efficient algorithm based on the detection of dominant bundles of parallel catadioptric lines and the translation is calculated from a robust 2-point algorithm. We also show that the line-based approach allows to estimate the absolute attitude (roll and pitch angles) at each frame, without error accumulation. The efficiency of our approach has been validated by experiments in both indoor and outdoor environments and also by comparison with other existing methods. (C) 2009 Elsevier Inc. All rights reserved.
Publisher
ACADEMIC PRESS INC ELSEVIER SCIENCE
Issue Date
2010-02
Language
English
Article Type
Article; Proceedings Paper
Keywords

STRUCTURE-FROM-MOTION; HOUGH TRANSFORM; CALIBRATION; NAVIGATION; VEHICLES

Citation

COMPUTER VISION AND IMAGE UNDERSTANDING, v.114, pp.254 - 273

ISSN
1077-3142
DOI
10.1016/j.cviu.2009.04.006
URI
http://hdl.handle.net/10203/22825
Appears in Collection
GCT-Journal Papers(저널논문)EE-Journal Papers(저널논문)
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