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Reconstruction from planar motion image sequences with applications for autonomous vehicles

Stewenius, Henrik LU ; Oskarsson, Magnus LU and Åström, Karl LU (2005) In Image Analysis (Lecture Notes in Computer Science) 3540. p.609-618
Abstract
Vision is useful for the autonomous navigation of vehicles. In this paper the case of a vehicle equipped with multiple cameras with non-overlapping views is considered. The geometry and algebra of such a moving platform of cameras axe considered. In particular we formulate and solve structure and motion problems for a few novel cases. There are two interesting minimal cases; three points in two platform positions and two points in three platform positions. We also investigate initial solutions for the case when image lines are used as features. In the paper is also discussed how classical algorithms such as intersection, resection and bundle adjustment can be extended to this new situation. The theory has been tested on synthetic and real... (More)
Vision is useful for the autonomous navigation of vehicles. In this paper the case of a vehicle equipped with multiple cameras with non-overlapping views is considered. The geometry and algebra of such a moving platform of cameras axe considered. In particular we formulate and solve structure and motion problems for a few novel cases. There are two interesting minimal cases; three points in two platform positions and two points in three platform positions. We also investigate initial solutions for the case when image lines are used as features. In the paper is also discussed how classical algorithms such as intersection, resection and bundle adjustment can be extended to this new situation. The theory has been tested on synthetic and real data with 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
in
Image Analysis (Lecture Notes in Computer Science)
volume
3540
pages
609 - 618
publisher
Springer
external identifiers
  • wos:000230372500062
  • scopus:26444452054
ISSN
1611-3349
0302-9743
ISBN
978-3-540-26320-3
DOI
10.1007/b137285
language
English
LU publication?
yes
id
36a49b21-402b-4f11-ac28-360a13855b57 (old id 231559)
date added to LUP
2007-08-23 18:00:15
date last changed
2017-03-05 03:26:07
@inbook{36a49b21-402b-4f11-ac28-360a13855b57,
  abstract     = {Vision is useful for the autonomous navigation of vehicles. In this paper the case of a vehicle equipped with multiple cameras with non-overlapping views is considered. The geometry and algebra of such a moving platform of cameras axe considered. In particular we formulate and solve structure and motion problems for a few novel cases. There are two interesting minimal cases; three points in two platform positions and two points in three platform positions. We also investigate initial solutions for the case when image lines are used as features. In the paper is also discussed how classical algorithms such as intersection, resection and bundle adjustment can be extended to this new situation. The theory has been tested on synthetic and real data with promising results.},
  author       = {Stewenius, Henrik and Oskarsson, Magnus and Åström, Karl},
  isbn         = {978-3-540-26320-3},
  issn         = {1611-3349},
  language     = {eng},
  pages        = {609--618},
  publisher    = {Springer},
  series       = {Image Analysis (Lecture Notes in Computer Science)},
  title        = {Reconstruction from planar motion image sequences with applications for autonomous vehicles},
  url          = {http://dx.doi.org/10.1007/b137285},
  volume       = {3540},
  year         = {2005},
}