Relative planar motion for vehicle-mounted cameras from a single affine correspondence

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Relative planar motion for vehicle-mounted cameras from a single affine correspondence

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Relative planar motion for vehicle-mounted cameras from a single affine correspondence

Popis výsledku anglicky

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.

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

8651-8657

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

000712319505096