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Relative pose estimation in binocular vision for a planar scene using inter-image homographies

Örnhag, Marcus Valtonen LU and Heyden, Anders LU orcid (2018) 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018 2018-January. p.568-575
Abstract

In this paper we consider a mobile platform with two cameras directed towards the floor mounted the same distance from the ground, assuming planar motion and constant internal parameters. Earlier work related to this specific problem geometry has been carried out for monocular systems, and the main contribution of this paper is the generalization to a binocular system and the recovery of the relative translation and orientation between the cameras. The method is based on previous work on monocular systems, using sequences of inter-image homographies. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters.

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
keywords
Binocular Vision, Homography, Planar Motion, Relative Pose Estimation, SLAM, Visual Odometry
host publication
ICPRAM 2018 - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods
editor
Fred, Ana ; di Baja, Gabriella Sanniti and De Marsico, Maria
volume
2018-January
pages
8 pages
publisher
SciTePress
conference name
7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018
conference location
Funchal, Portugal
conference dates
2018-01-16 - 2018-01-18
external identifiers
  • scopus:85052013448
ISBN
9789897582769
DOI
10.5220/0006695305680575
language
English
LU publication?
yes
id
cb9c14fa-38f8-4afc-a437-7797f6f821e3
date added to LUP
2018-10-04 10:41:11
date last changed
2023-11-18 01:23:38
@inproceedings{cb9c14fa-38f8-4afc-a437-7797f6f821e3,
  abstract     = {{<p>In this paper we consider a mobile platform with two cameras directed towards the floor mounted the same distance from the ground, assuming planar motion and constant internal parameters. Earlier work related to this specific problem geometry has been carried out for monocular systems, and the main contribution of this paper is the generalization to a binocular system and the recovery of the relative translation and orientation between the cameras. The method is based on previous work on monocular systems, using sequences of inter-image homographies. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters.</p>}},
  author       = {{Örnhag, Marcus Valtonen and Heyden, Anders}},
  booktitle    = {{ICPRAM 2018 - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods}},
  editor       = {{Fred, Ana and di Baja, Gabriella Sanniti and De Marsico, Maria}},
  isbn         = {{9789897582769}},
  keywords     = {{Binocular Vision; Homography; Planar Motion; Relative Pose Estimation; SLAM; Visual Odometry}},
  language     = {{eng}},
  month        = {{01}},
  pages        = {{568--575}},
  publisher    = {{SciTePress}},
  title        = {{Relative pose estimation in binocular vision for a planar scene using inter-image homographies}},
  url          = {{http://dx.doi.org/10.5220/0006695305680575}},
  doi          = {{10.5220/0006695305680575}},
  volume       = {{2018-January}},
  year         = {{2018}},
}