Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras

Popis výsledku anglicky

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.

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/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Výzkumné centrum informatiky</a><br>

Návaznosti

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

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Robotics and Automation (ICRA)

ISBN

978-1-7281-7395-5

ISSN

1050-4729

e-ISSN

2577-087X

Počet stran výsledku

7

Strana od-do

8644-8650

Název nakladatele

IEEE Xplore

Místo vydání

—

Místo konání akce

Paris

Datum konání akce

31. 5. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000712319505095