The effect of different parameterisations in incremental structure from motion

Kód výsledku v 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>

Výsledek na webu

<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

—

Jazyk výsledku

angličtina

Název v původním jazyce

The effect of different parameterisations in incremental structure from motion

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

The effect of different parameterisations in incremental structure from motion

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

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

Návaznosti

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

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

ISBN

—

ISSN

1448-2053

e-ISSN

—

Počet stran výsledku

9

Strana od-do

1-9

Název nakladatele

Australian National University

Místo vydání

Canberra

Místo konání akce

Canberra

Datum konání akce

2. 12. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—