Relative pose estimation in binocular vision for a planar scene using inter-image homographies
(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:
https://lup.lub.lu.se/record/cb9c14fa-38f8-4afc-a437-7797f6f821e3
- author
- Örnhag, Marcus Valtonen LU and Heyden, Anders LU
- organization
- publishing date
- 2018-01-01
- 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}}, }