Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00356052" target="_blank" >RIV/68407700:21230/20:00356052 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA40945.2020.9196755" target="_blank" >https://doi.org/10.1109/ICRA40945.2020.9196755</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA40945.2020.9196755" target="_blank" >10.1109/ICRA40945.2020.9196755</a>
Alternative languages
Result language
angličtina
Original language name
Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras
Original language description
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when a larger-than-minimal sample of point correspondences is given - thus, estimating the motion from at least three correspondences. The algorithm requires the camera movement to be constrained to a plane, e.g. mounted to a vehicle, and the image plane to be orthogonal to the ground.(1) The solver obtains the motion parameters as the roots of a 6th degree polynomial. It is validated both in synthetic experiments and on publicly available real-world datasets that using the proposed solver leads to results superior to the state-of-the-art in terms of geometric accuracy with no noticeable deterioration in the processing time.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Robotics and Automation (ICRA)
ISBN
978-1-7281-7395-5
ISSN
1050-4729
e-ISSN
2577-087X
Number of pages
7
Pages from-to
8644-8650
Publisher name
IEEE Xplore
Place of publication
—
Event location
Paris
Event date
May 31, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000712319505095