상세정보
학술대회
Camera Motion Estimation with Known Vertical Direction in Unstructured Environments
- 발행일
- 201612
- 출처
- International Symposium on Visual Computing (ISVC) 2016 (LNCS 10072), v.10072, pp.156-166
- 협약과제
- 16MS4100, 모바일 기반의 3D 프린팅 콘텐츠 생성/저작/출력 기술 및 응용 서비스 개발, 최진성
- 초록
- We propose a novel approach to solve the problem of relative camera motion estimation with the information of known vertical direction in unstructured environments using the technique of 2D structure from motion (SFM). The information of vertical direction (gravity direction) can transform cameras into the camera of which vertical axis is parallel with the vertical direction. Moreover, feature point measurements can also be transformed into bearing angles and vertical coordinates with respect to this cameras. Then, 2D pose of the camera and 2D positions of point features can be estimated with 2D trifocal tensor method in closed form. After obtaining those estimates, the remained 1D information about camera and point features are estimated easily. The results of the experiments with simulated and real images are presented to demonstrate the feasibility of the proposed method. We also give the comparison between the proposed method and the state-of-the art method.
- KSP 제안 키워드
- 2D Trifocal Tensor, 2D structure, Bearing Angle, Camera motion estimation, Known Vertical Direction, Motion estimation(ME), Novel approach, Tensor method, Unstructured environments, Vertical coordinates, closed-form