Relative planar motion for vehicle-mounted cameras from a single affine correspondence
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00356054" target="_blank" >RIV/68407700:21230/20:00356054 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICRA40945.2020.9197438" target="_blank" >https://doi.org/10.1109/ICRA40945.2020.9197438</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA40945.2020.9197438" target="_blank" >10.1109/ICRA40945.2020.9197438</a>
Alternative languages
Result language
angličtina
Original language name
Relative planar motion for vehicle-mounted cameras from a single affine correspondence
Original language description
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the ground. The algorithms do not assume other constraints, e.g. the non-holonomic one, to hold. A new minimal solver is proposed for the semi-calibrated case, i.e. the camera parameters are known except a common focal length. Another method is proposed for the fully calibrated case. Due to requiring a single correspondence, robust estimation, e.g. histogram voting, leads to a fast and accurate procedure. The proposed methods are tested in our synthetic environment and on publicly available real datasets consisting of videos through tens of kilometers. They are superior to the state-of-the-art both in terms of accuracy and processing time.
Czech name
—
Czech description
—
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
8651-8657
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
000712319505096