Ego-Motion Recovery and Robust Tilt Estimation for Planar Motion Using Several Homographies
Author
Editor
- Sebastiano Battiato
- José Braz
Summary, in English
In this paper we suggest an improvement to a recent algorithm for estimating the pose and ego-motion of a camera which is constrained to planar motion at a constant height above the floor, with a constant tilt. Such motion is common in robotics applications where a camera is mounted onto a mobile platform and directed towards the floor. Due to the planar nature of the scene, images taken with such a camera will be related by a planar homography, which may be used to extract the ego-motion and camera pose. Earlier algorithms for this particular kind of motion were not concerned with determining the tilt of the camera, focusing instead on recovering only the motion. Estimating the tilt is a necessary step in order to create a rectified map for a SLAM system. Our contribution extends the aforementioned recent method, and we demonstrate that our enhanced algorithm gives more accurate estimates of the motion parameters.
Department/s
Publishing year
2014
Language
English
Pages
635-639
Publication/Series
9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014), Proceedings of
Full text
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Document type
Conference paper
Publisher
SciTePress
Topic
- Computer Vision and Robotics (Autonomous Systems)
- Mathematics
Keywords
- SLAM
- Homography
- Robotic Navigation
- Planar Motion
- Tilt Estimation
Conference name
9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2014)
Conference date
2014-01-05 - 2014-01-08
Conference place
Lisbon, Portugal
Status
Published
Project
- ENGROSS
Research group
- Mathematical Imaging Group