Trajectory Estimation Using Relative Distances Extracted from Interimage Homographies
(2014) 11th Conference on Computer and Robot Vision (CRV 2014) In Computer and Robot Vision (CRV), 2014 Canadian Conference on p.232237 Abstract
 The main idea of this paper is to use distances between camera positions to recover the trajectory of a mobile robot. We consider a mobile platform equipped with a single fixed camera using images of the floor and their associated interimage homographies to find these distances. We show that under the assumptions that the camera is rigidly mounted with a constant tilt and travelling at a constant height above the floor, the distance between two camera positions may be expressed in terms of the condition number of the interimage homography. Experiments are conducted on synthetic data to verify that the derived distance formula gives distances close to the true ones and is not too sensitive to noise. We also describe how the robot... (More)
 The main idea of this paper is to use distances between camera positions to recover the trajectory of a mobile robot. We consider a mobile platform equipped with a single fixed camera using images of the floor and their associated interimage homographies to find these distances. We show that under the assumptions that the camera is rigidly mounted with a constant tilt and travelling at a constant height above the floor, the distance between two camera positions may be expressed in terms of the condition number of the interimage homography. Experiments are conducted on synthetic data to verify that the derived distance formula gives distances close to the true ones and is not too sensitive to noise. We also describe how the robot trajectory may be represented as a graph with edge lengths determined by the distances computed using the formula above, and present one possible method to construct this graph given some of these distances. The experiments show promising results. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/record/4437554
 author
 Wadenbäck, Mårten ^{LU} and Heyden, Anders ^{LU}
 organization
 publishing date
 2014
 type
 Chapter in Book/Report/Conference proceeding
 publication status
 published
 subject
 keywords
 Autonomous Navigation, Trajectory Recovery, Homography, Rigid Graphs, Tilted Camera
 in
 Computer and Robot Vision (CRV), 2014 Canadian Conference on
 pages
 6 pages
 publisher
 IEEEInstitute of Electrical and Electronics Engineers Inc.
 conference name
 11th Conference on Computer and Robot Vision (CRV 2014)
 external identifiers

 WOS:000341646300032
 Scopus:84902284464
 ISBN
 9781479943388 (print)
 DOI
 10.1109/CRV.2014.39
 project
 ENGROSS
 language
 English
 LU publication?
 yes
 id
 7b28afaef75b4bc1baf99547bd9eba69 (old id 4437554)
 date added to LUP
 20140702 16:51:19
 date last changed
 20161013 04:41:17
@misc{7b28afaef75b4bc1baf99547bd9eba69, abstract = {The main idea of this paper is to use distances between camera positions to recover the trajectory of a mobile robot. We consider a mobile platform equipped with a single fixed camera using images of the floor and their associated interimage homographies to find these distances. We show that under the assumptions that the camera is rigidly mounted with a constant tilt and travelling at a constant height above the floor, the distance between two camera positions may be expressed in terms of the condition number of the interimage homography. Experiments are conducted on synthetic data to verify that the derived distance formula gives distances close to the true ones and is not too sensitive to noise. We also describe how the robot trajectory may be represented as a graph with edge lengths determined by the distances computed using the formula above, and present one possible method to construct this graph given some of these distances. The experiments show promising results.}, author = {Wadenbäck, Mårten and Heyden, Anders}, isbn = {9781479943388 (print)}, keyword = {Autonomous Navigation,Trajectory Recovery,Homography,Rigid Graphs,Tilted Camera}, language = {eng}, pages = {232237}, publisher = {ARRAY(0x7d9fc18)}, series = {Computer and Robot Vision (CRV), 2014 Canadian Conference on}, title = {Trajectory Estimation Using Relative Distances Extracted from Interimage Homographies}, url = {http://dx.doi.org/10.1109/CRV.2014.39}, year = {2014}, }