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The Multi-view Geometry of Parallel Cylinders

Tegler, Erik LU ; Engman, Johanna LU ; Gillsjö, David LU orcid ; Flood, Gabrielle LU ; Larsson, Viktor LU ; Oskarsson, Magnus LU orcid and Åström, Kalle LU orcid (2023) 22nd Scandinavian Conference on Image Analysis, SCIA 2023 In Lecture Notes in Computer Science 13886. p.482-499
Abstract
In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion... (More)
In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion estimation. We provide mathematical analysis of relative structure and relative motion tensors, which is used to develop a number of minimal solvers for simultaneously estimating camera pose and scene structure from silhouette lines of cylinders. These solvers can be used efficiently in robust estimation schemes, such as RANSAC. We use Sampson-approximation methods for efficient estimation using over-determined data and develop averaging techniques. We also perform synthetic accuracy and robustness tests and evaluate our methods on a number of real-world scenarios. (Less)
Abstract (Swedish)
In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion... (More)
In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion estimation. We provide mathematical analysis of relative structure and relative motion tensors, which is used to develop a number of minimal solvers for simultaneously estimating camera pose and scene structure from silhouette lines of cylinders. These solvers can be used efficiently in robust estimation schemes, such as RANSAC. We use Sampson-approximation methods for efficient estimation using over-determined data and develop averaging techniques. We also perform synthetic accuracy and robustness tests and evaluate our methods on a number of real-world scenarios. (Less)
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
host publication
Image Analysis : 23rd Scandinavian Conference, SCIA 2023, Sirkka, Finland, April 18–21, 2023, Proceedings - 23rd Scandinavian Conference, SCIA 2023, Sirkka, Finland, April 18–21, 2023, Proceedings
series title
Lecture Notes in Computer Science
editor
Gade, Rikke ; Felsberg, Michael and Kämäräinen, Joni-Kristian
volume
13886
pages
482 - 499
publisher
Springer
conference name
22nd Scandinavian Conference on Image Analysis, SCIA 2023
conference location
Sirkka, Finland
conference dates
2023-04-18 - 2023-04-21
external identifiers
  • scopus:85161441544
ISSN
1611-3349
0302-9743
ISBN
978-3-031-31438-4
978-3-031-31437-7
DOI
10.1007/978-3-031-31438-4_32
language
English
LU publication?
yes
id
67ac8d99-87d0-4951-89de-6ddab9c74e86
date added to LUP
2023-04-28 13:40:24
date last changed
2024-06-15 02:19:27
@inproceedings{67ac8d99-87d0-4951-89de-6ddab9c74e86,
  abstract     = {{In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion estimation. We provide mathematical analysis of relative structure and relative motion tensors, which is used to develop a number of minimal solvers for simultaneously estimating camera pose and scene structure from silhouette lines of cylinders. These solvers can be used efficiently in robust estimation schemes, such as RANSAC. We use Sampson-approximation methods for efficient estimation using over-determined data and develop averaging techniques. We also perform synthetic accuracy and robustness tests and evaluate our methods on a number of real-world scenarios.}},
  author       = {{Tegler, Erik and Engman, Johanna and Gillsjö, David and Flood, Gabrielle and Larsson, Viktor and Oskarsson, Magnus and Åström, Kalle}},
  booktitle    = {{Image Analysis : 23rd Scandinavian Conference, SCIA 2023, Sirkka, Finland, April 18–21, 2023, Proceedings}},
  editor       = {{Gade, Rikke and Felsberg, Michael and Kämäräinen, Joni-Kristian}},
  isbn         = {{978-3-031-31438-4}},
  issn         = {{1611-3349}},
  language     = {{eng}},
  pages        = {{482--499}},
  publisher    = {{Springer}},
  series       = {{Lecture Notes in Computer Science}},
  title        = {{The Multi-view Geometry of Parallel Cylinders}},
  url          = {{http://dx.doi.org/10.1007/978-3-031-31438-4_32}},
  doi          = {{10.1007/978-3-031-31438-4_32}},
  volume       = {{13886}},
  year         = {{2023}},
}