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Calibration, Positioning and Tracking in a Refractive and Reflective Scene

Palmér, Tobias LU ; Bianco, Giuseppe LU orcid ; Ekvall, Mikael LU ; Hansson, Lars-Anders LU orcid and Åström, Karl LU orcid (2017) 2016 23rd International Conference on Pattern Recognition (ICPR 2016) p.3810-3815
Abstract
We propose a framework for calibration, positioning
and tracking in a scene viewed by multiple cameras, through
a flat refractive surface and one or several flat reflective walls.
Refractions are explicitly modeled by Snell’s law and reflections
are handled using virtual points. A novel bundle adjustment
framework is introduced for solving the nonlinear equations
of refractions and the linear equations of reflections, which in
addition enables optimization for calibration and positioning. The
numerical accuracy of the solutions is investigated on synthetic
data, and the influence of noise in image points for several settings
of refractive and reflective planes is presented. The performance of
the... (More)
We propose a framework for calibration, positioning
and tracking in a scene viewed by multiple cameras, through
a flat refractive surface and one or several flat reflective walls.
Refractions are explicitly modeled by Snell’s law and reflections
are handled using virtual points. A novel bundle adjustment
framework is introduced for solving the nonlinear equations
of refractions and the linear equations of reflections, which in
addition enables optimization for calibration and positioning. The
numerical accuracy of the solutions is investigated on synthetic
data, and the influence of noise in image points for several settings
of refractive and reflective planes is presented. The performance of
the framework is evaluated on real data and confirms the validity
of the physical model. Examples of how to use the framework
to back-project image coordinates, forward-project scene points
and estimate the refractive and reflective planes are presented.
Lastly, an application of the system on real data from a biological
experiment on small aquatic organisms is presented. (Less)
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Pattern Recognition (ICPR), 2016 23rd International Conference on
pages
6 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2016 23rd International Conference on Pattern Recognition (ICPR 2016)
conference location
Cancún, Mexico
conference dates
2016-12-04 - 2016-12-08
external identifiers
  • scopus:85019074725
ISBN
978-1-5090-4847-2
DOI
10.1109/ICPR.2016.7900228
project
Semantic Mapping and Visual Navigation for Smart Robots
language
English
LU publication?
yes
id
e92ce9ca-f465-4c40-80e1-6d118f630d94
date added to LUP
2016-10-29 15:43:58
date last changed
2024-02-03 02:56:03
@inproceedings{e92ce9ca-f465-4c40-80e1-6d118f630d94,
  abstract     = {{We propose a framework for calibration, positioning<br/>and tracking in a scene viewed by multiple cameras, through<br/>a flat refractive surface and one or several flat reflective walls.<br/>Refractions are explicitly modeled by Snell’s law and reflections<br/>are handled using virtual points. A novel bundle adjustment<br/>framework is introduced for solving the nonlinear equations<br/>of refractions and the linear equations of reflections, which in<br/>addition enables optimization for calibration and positioning. The<br/>numerical accuracy of the solutions is investigated on synthetic<br/>data, and the influence of noise in image points for several settings<br/>of refractive and reflective planes is presented. The performance of<br/>the framework is evaluated on real data and confirms the validity<br/>of the physical model. Examples of how to use the framework<br/>to back-project image coordinates, forward-project scene points<br/>and estimate the refractive and reflective planes are presented.<br/>Lastly, an application of the system on real data from a biological<br/>experiment on small aquatic organisms is presented.}},
  author       = {{Palmér, Tobias and Bianco, Giuseppe and Ekvall, Mikael and Hansson, Lars-Anders and Åström, Karl}},
  booktitle    = {{Pattern Recognition (ICPR), 2016 23rd International Conference on}},
  isbn         = {{978-1-5090-4847-2}},
  language     = {{eng}},
  month        = {{04}},
  pages        = {{3810--3815}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Calibration, Positioning and Tracking in a Refractive and Reflective Scene}},
  url          = {{http://dx.doi.org/10.1109/ICPR.2016.7900228}},
  doi          = {{10.1109/ICPR.2016.7900228}},
  year         = {{2017}},
}