Fast and Accurate Structure and Motion Estimation
2009 (English)In: International Symposium on Visual Computing / [ed] George Bebis, Richard Boyle, Bahram Parvin, Darko Koracin, Yoshinori Kuno, Junxian Wang, Jun-Xuan Wang, Junxian Wang, Renato Pajarola and Peter Lindstrom et al., Berlin Heidelberg: Springer-Verlag , 2009, 211-222 p.Conference paper, Presentation (Refereed)
This paper describes a system for structure-and-motion estimation for real-time navigation and obstacle avoidance. We demonstrate it technique to increase the efficiency of the 5-point solution to the relative pose problem. This is achieved by a novel sampling scheme, where We add a distance constraint on the sampled points inside the RANSAC loop. before calculating the 5-point solution. Our setup uses the KLT tracker to establish point correspondences across tone in live video We also demonstrate how an early outlier rejection in the tracker improves performance in scenes with plenty of occlusions. This outlier rejection scheme is well Slated to implementation on graphics hardware. We evaluate the proposed algorithms using real camera sequences with fine-tuned bundle adjusted data as ground truth. To strenghten oar results we also evaluate using sequences generated by a state-of-the-art rendering software. On average we are able to reduce the number of RANSAC iterations by half and thereby double the speed.
Place, publisher, year, edition, pages
Berlin Heidelberg: Springer-Verlag , 2009. 211-222 p.
, Lecture Notes in Computer Science, ISSN 0302-9743 ; Volume 5875
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-50624DOI: 10.1007/978-3-642-10331-5_20ISI: 000278937300020OAI: oai:DiVA.org:liu-50624DiVA: diva2:271764
5th International Symposium, ISVC 2009, November 30 - December 2, Las Vegas, NV, USA