Absolute motion and structure from stereo image sequences without stereo correspondence and analysis of degenerate cases

Kim, Jae-Hean; Chung, Myung Jin

doi:10.1016/j.patcog.2005.12.002

Cited by 14 publications

(15 citation statements)

References 17 publications

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“…The degenerate cases are also analysed by Kim and Chung [11], for a similar topic: motion and structure from stereo images without stereo correspondence. As a result, the singular cases raise when the axes n k 1 of the rotations R k 1 are parallel for every k ∈ 1..K .…”

Section: Singular Motions 321 Overviewmentioning

confidence: 99%

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Calibration of Non-Overlapping Cameras---Application to Vision-Based Robotics

Lébraly¹,

Royer²,

Ait-Aider³

et al. 2010

Procedings of the British Machine Vision Conference 2010

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Multi-camera systems are more and more used in vision-based robotics. An accurate extrinsic calibration is usually required. In most of cases, this task is done by matching features through different views of the same scene. However, if the cameras fields of view do not overlap, such a matching procedure is not feasible anymore.This article deals with a simple and flexible extrinsic calibration method, for nonoverlapping camera rig. The aim is the calibration of non-overlapping cameras embedded on a vehicle, for visual navigation purpose in urban environment. The cameras do not see the same area at the same time. The calibration procedure consists in manoeuvring the vehicle while each camera observes a static scene. The main contributions are a study of the singular motions and a specific bundle adjustment which both reconstructs the scene and calibrates the cameras. Solutions to handle the singular configurations, such as planar motions, are exposed. The proposed approach has been validated with synthetic and real data.

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Section: Singular Motions 321 Overviewmentioning

confidence: 99%

“…Once this rigidity constraint is estimated, minimal pose problems [18] are solved to locate the multi-camera system [3,9,12,13,23], with an Extended Kalman Filter [11,21] or with a structure from motion algorithm [23,24,25]. Some of these articles claim to use a manual extrinsic calibration.…”

Section: Introductionmentioning

confidence: 99%

Calibration of Non-Overlapping Cameras---Application to Vision-Based Robotics

Lébraly¹,

Royer²,

Ait-Aider³

et al. 2010

Procedings of the British Machine Vision Conference 2010

View full text Add to dashboard Cite

show abstract

“…The proposed approach can be viewed as an extension of our previous work [30] showing that an absolute scale factor can be acquired while a stereo camera moves in a scene without feature correspondences among the cameras. All of the degenerate motions in determining scale factors were reported in that work.…”

Section: Article In Pressmentioning

confidence: 99%

Recursive estimation of motion and a scene model with a two-camera system of divergent view

Kim

Chung

Choi

2010

Pattern Recognition

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“…two following stereo pairs) is used, by evaluating the displacement of left and right matches in two corresponding images. Dimensional effects are normalized by scaling factor according to (Kim & Chung, 2006). Once right correspondences are defined in the four-frame, ego-motion tracking is performed considering displacements through consecutive 3-D point sets.…”

Section: Overviewmentioning

confidence: 99%

“…The system in Eq.20 gives a unique solution except in a degenerate motion set as proven in (Kim & Chung, 2006). Given the 4-frame matching points and the scale factors estimated as mentioned above, two corresponding 3-D point sets, X 1 and X 2 , are calculated between the two following stereo correspondences.…”

Section: Overviewmentioning

confidence: 99%