Camera Localization UsingTrajectories and Maps

Abstract

Abstract-We propose a new Bayesian framework for automatically determining the position (location and orientation) of an uncalibrated camera using the observations of moving objects and a schematic map of the passable areas of the environment. Our approach takes advantage of static and dynamic information on the scene structures through prior probability distributions for object dynamics. The proposed approach restricts plausible positions where the sensor can be located while taking into account the inherent ambiguity of the given setting. The proposed framework samples from the posterior probability distribution for the camera position via data driven MCMC, guided by an initial geometric analysis that restricts the search space. A Kullback-Leibler divergence analysis is then used that yields the final camera position estimate, while explicitly isolating ambiguous settings. The proposed approach is evaluated in synthetic and real environments, showing its satisfactory performance in both ambiguous and unambiguous settings.

Global calibration of non-overlapping cameras: State of the art

“…Optical mirrors [34,35], [43], [47], [49], [51] [39] [ 36], [40], [48] [ 37], [45,46], [50], [52] Structure from motion [55], [57], [59][60][61] [ 53,54], [63], [66,67], [69][70][71] [56], [58], [62], [64,65], [68], [72,73] Laser projection [77,78], [80] [74-76] Close range photogrammetry [87] [ [88][89][90] range of applications in visual tracking, pose estimation and robot navigation. The method based on laser projection can theoretically work in a large range, but it is difficult to obtain high calibration accuracy because the image quality of the spot or the light plane decays as the work distance increases.…”

Audio Fingerprinting for Multi-Device Self-Localization

“…For instance, a network of non-overlapping cameras can be localized using the trajectories of a moving target [25]. Vision-based methods suffer in the presence of motion blur and camera shake, or when the camera focal length is unknown [26].…”