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Trajectory Estimation Using Relative Distances Extracted from Inter-image Homographies

Wadenbäck, Mårten LU and Heyden, Anders LU (2014) 11th Conference on Computer and Robot Vision (CRV 2014) In Computer and Robot Vision (CRV), 2014 Canadian Conference on p.232-237
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 inter-image 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 inter-image 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 inter-image 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 inter-image 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:
author
organization
publishing date
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
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
11th Conference on Computer and Robot Vision (CRV 2014)
external identifiers
  • WOS:000341646300032
  • Scopus:84902284464
ISBN
978-1-4799-4338-8 (print)
DOI
10.1109/CRV.2014.39
project
ENGROSS
language
English
LU publication?
yes
id
7b28afae-f75b-4bc1-baf9-9547bd9eba69 (old id 4437554)
date added to LUP
2014-07-02 16:51:19
date last changed
2016-10-13 04:41:17
@misc{7b28afae-f75b-4bc1-baf9-9547bd9eba69,
  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 inter-image 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 inter-image 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         = {978-1-4799-4338-8 (print)},
  keyword      = {Autonomous Navigation,Trajectory Recovery,Homography,Rigid Graphs,Tilted Camera},
  language     = {eng},
  pages        = {232--237},
  publisher    = {ARRAY(0x7d9fc18)},
  series       = {Computer and Robot Vision (CRV), 2014 Canadian Conference on},
  title        = {Trajectory Estimation Using Relative Distances Extracted from Inter-image Homographies},
  url          = {http://dx.doi.org/10.1109/CRV.2014.39},
  year         = {2014},
}