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Real time camera ego-motion compensation and lens undistortion on GPU
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2007 (English)Manuscript (preprint) (Other academic)
Abstract [en]

This paper describes a GPU implementation for simultaneous camera ego-motion compensation and lens undistortion. The main idea is to transform the image under an ego-motion constraint so that trackedpoints in the image, that are assumed to come from the ego-motion, maps as close as possible to their averageposition in time. The lens undistortion is computed si-multaneously. We compare the performance with and without compensation using two measures; mean timedifference and mean statistical background subtraction.

Place, publisher, year, edition, pages
2007. , 8 p.
Keyword [en]
GPU, camera ego-motion compensation, lens undistortion
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-58547OAI: oai:DiVA.org:liu-58547DiVA: diva2:343533
Available from: 2010-08-18 Created: 2010-08-13 Last updated: 2011-01-25Bibliographically approved
In thesis
1. Pose Estimation and Structure Analysisof Image Sequences
Open this publication in new window or tab >>Pose Estimation and Structure Analysisof Image Sequences
2009 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Autonomous navigation for ground vehicles has many challenges. Autonomous systems must be able to self-localise, avoid obstacles and determine navigable surfaces. This thesis studies several aspects of autonomous navigation with a particular emphasis on vision, motivated by it being a primary component for navigation in many high-level biological organisms.  The key problem of self-localisation or pose estimation can be solved through analysis of the changes in appearance of rigid objects observed from different view points. We therefore describe a system for structure and motion estimation for real-time navigation and obstacle avoidance. With the explicit assumption of a calibrated camera, we have studied several schemes for increasing accuracy and speed of the estimation.The basis of most structure and motion pose estimation algorithms is a good point tracker. However point tracking is computationally expensive and can occupy a large portion of the CPU resources. In thisthesis we show how a point tracker can be implemented efficiently on the graphics processor, which results in faster tracking of points and the CPU being available to carry out additional processing tasks.In addition we propose a novel view interpolation approach, that can be used effectively for pose estimation given previously seen views. In this way, a vehicle will be able to estimate its location by interpolating previously seen data.Navigation and obstacle avoidance may be carried out efficiently using structure and motion, but only whitin a limited range from the camera. In order to increase this effective range, additional information needs to be incorporated, more specifically the location of objects in the image. For this, we propose a real-time object recognition method, which uses P-channel matching, which may be used for improving navigation accuracy at distances where structure estimation is unreliable.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. 28 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1418
Keyword
KLT, GPU, structure from motion, stereo, pose estimation
National Category
Engineering and Technology Computer Vision and Robotics (Autonomous Systems) Signal Processing
Identifiers
urn:nbn:se:liu:diva-58706 (URN)LiU-TEK-LIC-2009:26 (Local ID)978-91-7393-516-6 (ISBN)LiU-TEK-LIC-2009:26 (Archive number)LiU-TEK-LIC-2009:26 (OAI)
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Diplecs
Available from: 2011-01-25 Created: 2010-08-23 Last updated: 2016-05-04Bibliographically approved

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Hedborg, JohanJohansson, Björn

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