Planar motion bundle adjustment
(2019) 8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019 p.24-31- Abstract
In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates... (More)
In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates the planar motion constraint, and devise a scheme that utilises the sparse structure of the problem. Experiments are carried out on real data and the proposed algorithm shows an improvement compared to established generic methods.
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- author
- Örnhag, Marcus Valtonen LU and Wadenbäck, Mårten LU
- organization
- publishing date
- 2019
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Bundle Adjustment, Planar Motion
- host publication
- ICPRAM 2019 - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods
- editor
- Fred, Ana ; De Marsico, Maria and di Baja, Gabriella Sanniti
- pages
- 8 pages
- publisher
- SciTePress
- conference name
- 8th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2019
- conference location
- Prague, Czech Republic
- conference dates
- 2019-02-19 - 2019-02-21
- external identifiers
-
- scopus:85064591845
- ISBN
- 9789897583513
- DOI
- 10.5220/0007247700240031
- language
- English
- LU publication?
- yes
- id
- 0a1dde8c-e38f-4760-a580-07a929e3c641
- date added to LUP
- 2019-05-07 09:13:36
- date last changed
- 2022-05-11 08:27:15
@inproceedings{0a1dde8c-e38f-4760-a580-07a929e3c641, abstract = {{<p>In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates the planar motion constraint, and devise a scheme that utilises the sparse structure of the problem. Experiments are carried out on real data and the proposed algorithm shows an improvement compared to established generic methods.</p>}}, author = {{Örnhag, Marcus Valtonen and Wadenbäck, Mårten}}, booktitle = {{ICPRAM 2019 - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods}}, editor = {{Fred, Ana and De Marsico, Maria and di Baja, Gabriella Sanniti}}, isbn = {{9789897583513}}, keywords = {{Bundle Adjustment; Planar Motion}}, language = {{eng}}, pages = {{24--31}}, publisher = {{SciTePress}}, title = {{Planar motion bundle adjustment}}, url = {{http://dx.doi.org/10.5220/0007247700240031}}, doi = {{10.5220/0007247700240031}}, year = {{2019}}, }