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Keypoint Trajectory Estimation Using Propagation Based Tracking
Goethe University, Germany.
Goethe University, Germany.
Goethe University, Germany.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering. Goethe University, Germany.
2016 (English)In: 2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE , 2016, 933-939 p.Conference paper, (Refereed)
Abstract [en]

One of the major steps in visual environment perception for automotive applications is to track keypoints and to subsequently estimate egomotion and environment structure from the trajectories of these keypoints. This paper presents a propagation based tracking method to obtain the 2D trajectories of keypoints from a sequence of images in a monocular camera setup. Instead of relying on the classical RANSAC to obtain accurate keypoint correspondences, we steer the search for keypoint matches by means of propagating the estimated 3D position of the keypoint into the next frame and verifying the photometric consistency. In this process, we continuously predict, estimate and refine the frame-to-frame relative pose which induces the epipolar relation. Experiments on the KITTI dataset as well as on the synthetic COnGRATS dataset show promising results on the estimated courses and accurate keypoint trajectories.

Place, publisher, year, edition, pages
IEEE , 2016. 933-939 p.
Series
IEEE Intelligent Vehicles Symposium, ISSN 1931-0587
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-134102DOI: 10.1109/IVS.2016.7535500ISI: 000390845600148ISBN: 978-1-5090-1821-5 (print)OAI: oai:DiVA.org:liu-134102DiVA: diva2:1067522
Conference
IEEE Intelligent Vehicles Symposium (IV)
Available from: 2017-01-22 Created: 2017-01-22 Last updated: 2017-01-22

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf