Planar Motion and Hand-Eye Calibration Using Inter-Image Homographies from a Planar Scene
Author
Editor
- Sebastiano Battiato
- José Braz
Summary, in English
In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and constant internal camera parameters. The method used is based on a direct parametrisation of the camera motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies. Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate that our method produces consistent estimates of the camera position and orientation. We also make some remarks about patterns of motion for which the method fails.
Department/s
Publishing year
2013
Language
English
Pages
164-168
Publication/Series
8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013), Proceedings of
Full text
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Document type
Conference paper
Publisher
SciTePress
Topic
- Computer Vision and Robotics (Autonomous Systems)
- Mathematics
Keywords
- Visual Navigation
- Planar Motion
- SLAM
- Homography
- Tilted Camera
Conference name
8th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2013)
Conference date
2013-02-21 - 2013-02-24
Conference place
Barcelona, Spain
Status
Published
Project
- ENGROSS
Research group
- Mathematical Imaging Group