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Planar motion bundle adjustment

Örnhag, Marcus Valtonen LU and Wadenbäck, Mårten LU (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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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
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}},
}