Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene
(2013) 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013) p.164-168- Abstract
- In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about... (More)
- In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3519913
- author
- Wadenbäck, Mårten LU and Heyden, Anders LU
- organization
- publishing date
- 2013
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Visual Navigation, Planar Motion, SLAM, Homography, Tilted Camera
- host publication
- 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of
- editor
- Battiato, Sebastiano and Braz, José
- pages
- 5 pages
- publisher
- SciTePress
- conference name
- 8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013)
- conference location
- Barcelona, Spain
- conference dates
- 2013-02-21 - 2013-02-24
- external identifiers
-
- scopus:84878231084
- DOI
- 10.5220/0004293701640168
- project
- ENGROSS
- language
- English
- LU publication?
- yes
- additional info
- The paper was presented at the 8th International Conference on Computer Vision Theory and Applications (VISAPP 2013), which formed a part of VISIGRAPP 2013. The conference website can be found at: http://www.visigrapp.org/?y=2013
- id
- 5c35635e-0c8b-43a7-9d5d-d5b30d622b43 (old id 3519913)
- date added to LUP
- 2016-04-04 09:57:09
- date last changed
- 2023-11-15 20:23:56
@inproceedings{5c35635e-0c8b-43a7-9d5d-d5b30d622b43, abstract = {{In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails.}}, author = {{Wadenbäck, Mårten and Heyden, Anders}}, booktitle = {{8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of}}, editor = {{Battiato, Sebastiano and Braz, José}}, keywords = {{Visual Navigation; Planar Motion; SLAM; Homography; Tilted Camera}}, language = {{eng}}, pages = {{164--168}}, publisher = {{SciTePress}}, title = {{Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene}}, url = {{https://lup.lub.lu.se/search/files/5424800/3519914.pdf}}, doi = {{10.5220/0004293701640168}}, year = {{2013}}, }