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Planar Motion and Visual Odometry: Pose Estimation from Homographies

Wadenbäck, Mårten LU (2014)
Abstract
This thesis concerns ego-motion and pose estimation of a single camera under the assumptions of planar motion and constant internal camera parameters. Planar motion is common for cameras mounted onto mobile robots, particularly in indoor scenarios, as they remain at a constant height above the ground plane. In Paper A, a parametrisation of the camera motion and pose is presented, along with an iterative approach for determining the parameters. Paper B describes how to extend the method in Paper A to use more than one homography at a time in the estimation process, thereby improving the estimation accuracy and robustness. Paper C presents an alternative method for estimating the distance between camera positions that is independent of the... (More)
This thesis concerns ego-motion and pose estimation of a single camera under the assumptions of planar motion and constant internal camera parameters. Planar motion is common for cameras mounted onto mobile robots, particularly in indoor scenarios, as they remain at a constant height above the ground plane. In Paper A, a parametrisation of the camera motion and pose is presented, along with an iterative approach for determining the parameters. Paper B describes how to extend the method in Paper A to use more than one homography at a time in the estimation process, thereby improving the estimation accuracy and robustness. Paper C presents an alternative method for estimating the distance between camera positions that is independent of the estimated orientation of the cameras. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
pages
58 pages
publisher
Centre for Mathematical Sciences, Lund University
external identifiers
  • other:LUTFMA-2038-2014
ISBN
978-91-7623-102-9 (Printed)
978-91-7623-103-6
project
ENGROSS
language
English
LU publication?
yes
id
97478601-2c3c-41e8-9caf-cd969550557f (old id 4645559)
date added to LUP
2014-10-24 10:34:08
date last changed
2017-04-10 18:13:30
@misc{97478601-2c3c-41e8-9caf-cd969550557f,
  abstract     = {This thesis concerns ego-motion and pose estimation of a single camera under the assumptions of planar motion and constant internal camera parameters. Planar motion is common for cameras mounted onto mobile robots, particularly in indoor scenarios, as they remain at a constant height above the ground plane. In Paper A, a parametrisation of the camera motion and pose is presented, along with an iterative approach for determining the parameters. Paper B describes how to extend the method in Paper A to use more than one homography at a time in the estimation process, thereby improving the estimation accuracy and robustness. Paper C presents an alternative method for estimating the distance between camera positions that is independent of the estimated orientation of the cameras.},
  author       = {Wadenbäck, Mårten},
  isbn         = {978-91-7623-102-9 (Printed)},
  language     = {eng},
  note         = {Licentiate Thesis},
  pages        = {58},
  publisher    = {Centre for Mathematical Sciences, Lund University},
  title        = {Planar Motion and Visual Odometry: Pose Estimation from Homographies},
  year         = {2014},
}