The effect of different parameterisations in incremental structure from motion

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F15%3APU136368" target="_blank" >RIV/00216305:26230/15:PU136368 - isvavai.cz</a>

Result on the web

<a href="http://www.araa.asn.au/acra/acra2015/papers/pap155.pdf" target="_blank" >http://www.araa.asn.au/acra/acra2015/papers/pap155.pdf</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

The effect of different parameterisations in incremental structure from motion

Original language description

Accurate online estimation of the structure of the environment together with the pose of the robot is an important component to enable autonomous robotic applications. This paper analyses the different parameterisations used in structure from motion (SFM) problem in the context of accuracy and efficiency of the online solutions. Three point parameterisations are compared: Euclidean, inverse depth and inverse distance. At the same time two representations, global and local point coordinates are tested. Different metrics are used to compare the results, camera localisation errors, reprojection errors, execution time as well as a complete analysis on how different parameterisations affect the convergence, system's condition number and the incremental solving are provided. The paper shows that, with the correct parameterisation, efficient globally consistent SFM is possible, which under the assumption of small, bounded number of correspondences performs in constant time in open loop.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/7E13044" target="_blank" >7E13044: IMPART - Intelligent Management Platform for Advanced Real-Time media processes</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of 2015 Australasian Conference on Robotics and Automation, ACRA 2015; Australian National UniversityCanberra; Australia

ISBN

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ISSN

1448-2053

e-ISSN

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Number of pages

9

Pages from-to

1-9

Publisher name

Australian National University

Place of publication

Canberra

Event location

Canberra

Event date

Dec 2, 2015

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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