Ego-Motion Recovery and Robust Tilt Estimation for Planar Motion Using Several Homographies
Wadenbäck, Mårten LU and Heyden, Anders LU
(2014)
9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014)
p.635-639
- Abstract
- In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map... (More)
- In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map for a SLAM system. Our contribution extends the aforementioned recent method, and we demonstrate that our enhanced algorithm gives more accurate estimates of the motion parameters. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/4250697
- author
- Wadenbäck, Mårten
LU
and Heyden, Anders
LU
- organization
- publishing date
- 2014
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- SLAM, Homography, Robotic Navigation, Planar Motion, Tilt Estimation
- host publication
- 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of
- editor
- Battiato, Sebastiano and Braz, José
- pages
- 5 pages
- publisher
- SciTePress
- conference name
- 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014)
- conference location
- Lisbon, Portugal
- conference dates
- 2014-01-05 - 2014-01-08
- external identifiers
-
- scopus:84906896908
- DOI
- 10.5220/0004744706350639
- project
- ENGROSS
- language
- English
- LU publication?
- yes
- additional info
- The paper was presented at the 9th International Conference on Computer Vision Theory and Applications (VISAPP 2014), which formed a part of VISIGRAPP 2014. The conference website can be found at: http://www.visigrapp.org/?y=2014
- id
- 72c8b14d-3913-4111-a334-3ea7646bd7ea (old id 4250697)
- date added to LUP
- 2016-04-04 12:00:30
- date last changed
- 2023-11-16 05:17:04
@inproceedings{72c8b14d-3913-4111-a334-3ea7646bd7ea,
abstract = {{In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map for a SLAM system. Our contribution extends the aforementioned recent method, and we demonstrate that our enhanced algorithm gives more accurate estimates of the motion parameters.}},
author = {{Wadenbäck, Mårten and Heyden, Anders}},
booktitle = {{9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of}},
editor = {{Battiato, Sebastiano and Braz, José}},
keywords = {{SLAM; Homography; Robotic Navigation; Planar Motion; Tilt Estimation}},
language = {{eng}},
pages = {{635--639}},
publisher = {{SciTePress}},
title = {{Ego-Motion Recovery and Robust Tilt Estimation for Planar Motion Using Several Homographies}},
url = {{https://lup.lub.lu.se/search/files/5905789/4251312.pdf}},
doi = {{10.5220/0004744706350639}},
year = {{2014}},
}