Advanced

Ego-Motion Recovery and Robust Tilt Estimation for Planar Motion Using Several Homographies

Wadenbäck, Mårten LU and Heyden, Anders LU (2014) 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014) In 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of p.635-639
Abstract
In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map... (More)
In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map for a SLAM system. Our contribution extends the aforementioned recent method, and we demonstrate that our enhanced algorithm gives more accurate estimates of the motion parameters. (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
SLAM, Homography, Robotic Navigation, Planar Motion, Tilt Estimation
in
9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of
editor
Battiato, Sebastiano and Braz, José
pages
5 pages
publisher
SciTePress
conference name
9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014)
external identifiers
  • Scopus:84906896908
DOI
10.5220/0004744706350639
project
ENGROSS
language
English
LU publication?
yes
id
72c8b14d-3913-4111-a334-3ea7646bd7ea (old id 4250697)
date added to LUP
2014-02-12 17:01:25
date last changed
2016-10-13 04:49:03
@misc{72c8b14d-3913-4111-a334-3ea7646bd7ea,
  abstract     = {In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map for a SLAM system. Our contribution extends the aforementioned recent method, and we demonstrate that our enhanced algorithm gives more accurate estimates of the motion parameters.},
  author       = {Wadenbäck, Mårten and Heyden, Anders},
  editor       = {Battiato, Sebastiano and Braz, José},
  keyword      = {SLAM,Homography,Robotic Navigation,Planar Motion,Tilt Estimation},
  language     = {eng},
  pages        = {635--639},
  publisher    = {ARRAY(0x18b60100)},
  series       = {9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of},
  title        = {Ego-Motion Recovery and Robust Tilt Estimation for Planar Motion Using Several Homographies},
  url          = {http://dx.doi.org/10.5220/0004744706350639},
  year         = {2014},
}