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Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene

Wadenbäck, Mårten LU and Heyden, Anders LU (2013) 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013) In 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of p.164-168
Abstract
In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about... (More)
In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Visual Navigation, Planar Motion, SLAM, Homography, Tilted Camera
in
8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of
editor
Battiato, Sebastiano and Braz, José
pages
5 pages
publisher
SciTePress
conference name
8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013)
external identifiers
  • Scopus:84878231084
DOI
10.5220/0004293701640168
project
ENGROSS
language
English
LU publication?
yes
id
5c35635e-0c8b-43a7-9d5d-d5b30d622b43 (old id 3519913)
date added to LUP
2013-03-22 23:21:05
date last changed
2016-10-13 04:37:03
@misc{5c35635e-0c8b-43a7-9d5d-d5b30d622b43,
  abstract     = {In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails.},
  author       = {Wadenbäck, Mårten and Heyden, Anders},
  editor       = {Battiato, Sebastiano and Braz, José},
  keyword      = {Visual Navigation,Planar Motion,SLAM,Homography,Tilted Camera},
  language     = {eng},
  pages        = {164--168},
  publisher    = {ARRAY(0x90e3ef8)},
  series       = {8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of},
  title        = {Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene},
  url          = {http://dx.doi.org/10.5220/0004293701640168},
  year         = {2013},
}