LeHavreV1, France, Analysis, bibRecord, 000639

Calcul de pose d'un réseau de caméras hybrides à partir de droites

Identifieur interne : 000639 ( France/Analysis ); précédent : 000638; suivant : 000640

Calcul de pose d'un réseau de caméras hybrides à partir de droites

Auteurs : Sang Ly [France] ; Cédric Demonceaux [France] ; Pascal Vasseur [France] ; Claude Pegard [France]

Source :

RBID : Hal:inria-00595485

Abstract

We present a pose estimation approach for a setup of multiple hybrid cameras using line features. From line images across at least three single viewpoint cameras such as perspective, central catadioptric or fish-eye ones, the camera poses are recovered by a decoupling of rotations and translations : rotations are estimated from vanishing points of parallel lines and translations are calculated from known rotations and line images. The 3D lines are reconstructed by the triangulation of projective planes passing through line correspondences. The camera poses and 3D scene are finally refined by bundle adjustment. This technique can be used to recover the topology of a multiple hybrid camera system or extended to vision-based robot localization. The main contributions of this approach are the sole use of lines for the estimation, rather than point features and that it can handle different camera types in a unified manner. Moreover, we present an efficient bundle adjustment on camera and 3D line parameters by minimising the error of the line normals on spherical images. The proposed algorithm has been validated on simulated data and real images.

Url:

https://hal.inria.fr/inria-00595485

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 000424
to stream Hal, to step Curation: 000424
to stream Hal, to step Checkpoint: 000370
to stream Main, to step Merge: 000750
to stream Main, to step Curation: 000745
to stream Main, to step Exploration: 000745
to stream France, to step Extraction: 000639

Links to Exploration step

Hal:inria-00595485

Le document en format XML

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<front><div type="abstract" xml:lang="en">We present a pose estimation approach for a setup of multiple hybrid cameras using line features. From line images across at least three single viewpoint cameras such as perspective, central catadioptric or fish-eye ones, the camera poses are recovered by a decoupling of rotations and translations : rotations are estimated from vanishing points of parallel lines and translations are calculated from known rotations and line images. The 3D lines are reconstructed by the triangulation of projective planes passing through line correspondences. The camera poses and 3D scene are finally refined by bundle adjustment. This technique can be used to recover the topology of a multiple hybrid camera system or extended to vision-based robot localization. The main contributions of this approach are the sole use of lines for the estimation, rather than point features and that it can handle different camera types in a unified manner. Moreover, we present an efficient bundle adjustment on camera and 3D line parameters by minimising the error of the line normals on spherical images. The proposed algorithm has been validated on simulated data and real images.</div>
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HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000639 | SxmlIndent | more

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{{Explor lien
   |wiki=    Wicri/France
   |area=    LeHavreV1
   |flux=    France
   |étape=   Analysis
   |type=    RBID
   |clé=     Hal:inria-00595485
   |texte=   Calcul de pose d'un réseau de caméras hybrides à partir de droites
}}

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Calcul de pose d'un réseau de caméras hybrides à partir de droites

Calcul de pose d'un réseau de caméras hybrides à partir de droites

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Abstract

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Le document en format XML

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