A half perspective approach to robust ego motion estimation for calibrated cameras:
Abstract: "A new computational approach to estimate the ego-motion of a camera from sets of point correspondences taken from a monocular image sequence is presented. The underlying theory is based on a decomposition of the complete set of model parameters into suitable subsets to be optimized s...
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | German |
| Veröffentlicht: |
Passau
1997
|
| Schriftenreihe: | Universität <Passau> / Fakultät für Mathematik und Informatik: MIP
1997,18 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "A new computational approach to estimate the ego-motion of a camera from sets of point correspondences taken from a monocular image sequence is presented. The underlying theory is based on a decomposition of the complete set of model parameters into suitable subsets to be optimized separately, e.g. all stationary parameters concerning camera calibration are adjusted in advance (calibrated case). The first part of the paper is devoted to the description of the mathematical model, the so-called conic error model, and the numerical solution of the derived optimization problem. In contrast to existing methods, the conic error model permits to distinguish between feasible and non-feasible image correspondences related to 3D object points in front of and behind the camera, respectively. Based on this 'half-perspective' point of view, a well-balanced objective function is derived that encourages the proper detection of mismatches and distinct relative motions. In the second part, the results of various tests are presented and analyzed. The experimental study clearly shows that the numerical stability of the new approach is superior to that of so-called self-calibration techniques (uncalibrated case). Furthermore, the precision of the estimates is better than that achieved by comparable methods in the calibrated case based on a 'full-perspective' modeling and the related epipolar geometry. Accordingly, the accuracy of the resulting ego-motion estimation turns out to be excellent, even without any further temporal filtering." |
| Beschreibung: | 53, 5 S. Ill., graph. Darst. |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV011747567 | ||
| 003 | DE-604 | ||
| 005 | 20120404 | ||
| 007 | t | ||
| 008 | 980203s1997 ad|| |||| 00||| ger d | ||
| 035 | |a (OCoLC)41080286 | ||
| 035 | |a (DE-599)BVBBV011747567 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a ger | |
| 049 | |a DE-154 |a DE-739 |a DE-12 |a DE-91G |a DE-634 | ||
| 084 | |a SS 5600 |0 (DE-625)143571: |2 rvk | ||
| 100 | 1 | |a Wagner, Robert |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a A half perspective approach to robust ego motion estimation for calibrated cameras |c Robert Wagner ; Klaus Donner ; Feiyu Liu |
| 246 | 1 | 3 | |a A half-perspective approach to robust ego-motion estimation for calibrated cameras |
| 264 | 1 | |a Passau |c 1997 | |
| 300 | |a 53, 5 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Universität <Passau> / Fakultät für Mathematik und Informatik: MIP |v 1997,18 | |
| 520 | 3 | |a Abstract: "A new computational approach to estimate the ego-motion of a camera from sets of point correspondences taken from a monocular image sequence is presented. The underlying theory is based on a decomposition of the complete set of model parameters into suitable subsets to be optimized separately, e.g. all stationary parameters concerning camera calibration are adjusted in advance (calibrated case). The first part of the paper is devoted to the description of the mathematical model, the so-called conic error model, and the numerical solution of the derived optimization problem. In contrast to existing methods, the conic error model permits to distinguish between feasible and non-feasible image correspondences related to 3D object points in front of and behind the camera, respectively. Based on this 'half-perspective' point of view, a well-balanced objective function is derived that encourages the proper detection of mismatches and distinct relative motions. In the second part, the results of various tests are presented and analyzed. The experimental study clearly shows that the numerical stability of the new approach is superior to that of so-called self-calibration techniques (uncalibrated case). Furthermore, the precision of the estimates is better than that achieved by comparable methods in the calibrated case based on a 'full-perspective' modeling and the related epipolar geometry. Accordingly, the accuracy of the resulting ego-motion estimation turns out to be excellent, even without any further temporal filtering." | |
| 650 | 4 | |a Computer vision | |
| 650 | 4 | |a Decomposition (Mathematics) | |
| 650 | 4 | |a Image processing | |
| 650 | 4 | |a Mathematical optimization | |
| 650 | 0 | 7 | |a Informatik |0 (DE-588)4026894-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mathematik |0 (DE-588)4037944-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Theoretische Informatik |0 (DE-588)4196735-5 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Theoretische Informatik |0 (DE-588)4196735-5 |D s |
| 689 | 0 | 1 | |a Informatik |0 (DE-588)4026894-9 |D s |
| 689 | 0 | 2 | |a Mathematik |0 (DE-588)4037944-9 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Donner, Klaus |d 1945- |e Verfasser |0 (DE-588)1012341429 |4 aut | |
| 700 | 1 | |a Liu, Feiyu |e Verfasser |4 aut | |
| 810 | 2 | |a Fakultät für Mathematik und Informatik: MIP |t Universität <Passau> |v 1997,18 |w (DE-604)BV000905393 |9 1997,18 | |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-007926350 | ||
Datensatz im Suchindex
| _version_ | 1804126290075189248 |
|---|---|
| any_adam_object | |
| author | Wagner, Robert Donner, Klaus 1945- Liu, Feiyu |
| author_GND | (DE-588)1012341429 |
| author_facet | Wagner, Robert Donner, Klaus 1945- Liu, Feiyu |
| author_role | aut aut aut |
| author_sort | Wagner, Robert |
| author_variant | r w rw k d kd f l fl |
| building | Verbundindex |
| bvnumber | BV011747567 |
| classification_rvk | SS 5600 |
| ctrlnum | (OCoLC)41080286 (DE-599)BVBBV011747567 |
| discipline | Informatik |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>03341nam a2200457 cb4500</leader><controlfield tag="001">BV011747567</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20120404 </controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">980203s1997 ad|| |||| 00||| ger d</controlfield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)41080286</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV011747567</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">ger</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-154</subfield><subfield code="a">DE-739</subfield><subfield code="a">DE-12</subfield><subfield code="a">DE-91G</subfield><subfield code="a">DE-634</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">SS 5600</subfield><subfield code="0">(DE-625)143571:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Wagner, Robert</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">A half perspective approach to robust ego motion estimation for calibrated cameras</subfield><subfield code="c">Robert Wagner ; Klaus Donner ; Feiyu Liu</subfield></datafield><datafield tag="246" ind1="1" ind2="3"><subfield code="a">A half-perspective approach to robust ego-motion estimation for calibrated cameras</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Passau</subfield><subfield code="c">1997</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">53, 5 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">Universität <Passau> / Fakultät für Mathematik und Informatik: MIP</subfield><subfield code="v">1997,18</subfield></datafield><datafield tag="520" ind1="3" ind2=" "><subfield code="a">Abstract: "A new computational approach to estimate the ego-motion of a camera from sets of point correspondences taken from a monocular image sequence is presented. The underlying theory is based on a decomposition of the complete set of model parameters into suitable subsets to be optimized separately, e.g. all stationary parameters concerning camera calibration are adjusted in advance (calibrated case). The first part of the paper is devoted to the description of the mathematical model, the so-called conic error model, and the numerical solution of the derived optimization problem. In contrast to existing methods, the conic error model permits to distinguish between feasible and non-feasible image correspondences related to 3D object points in front of and behind the camera, respectively. Based on this 'half-perspective' point of view, a well-balanced objective function is derived that encourages the proper detection of mismatches and distinct relative motions. In the second part, the results of various tests are presented and analyzed. The experimental study clearly shows that the numerical stability of the new approach is superior to that of so-called self-calibration techniques (uncalibrated case). Furthermore, the precision of the estimates is better than that achieved by comparable methods in the calibrated case based on a 'full-perspective' modeling and the related epipolar geometry. Accordingly, the accuracy of the resulting ego-motion estimation turns out to be excellent, even without any further temporal filtering."</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Computer vision</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Decomposition (Mathematics)</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Image processing</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Mathematical optimization</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Informatik</subfield><subfield code="0">(DE-588)4026894-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Mathematik</subfield><subfield code="0">(DE-588)4037944-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Theoretische Informatik</subfield><subfield code="0">(DE-588)4196735-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Theoretische Informatik</subfield><subfield code="0">(DE-588)4196735-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Informatik</subfield><subfield code="0">(DE-588)4026894-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Mathematik</subfield><subfield code="0">(DE-588)4037944-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Donner, Klaus</subfield><subfield code="d">1945-</subfield><subfield code="e">Verfasser</subfield><subfield code="0">(DE-588)1012341429</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Liu, Feiyu</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="810" ind1="2" ind2=" "><subfield code="a">Fakultät für Mathematik und Informatik: MIP</subfield><subfield code="t">Universität <Passau></subfield><subfield code="v">1997,18</subfield><subfield code="w">(DE-604)BV000905393</subfield><subfield code="9">1997,18</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-007926350</subfield></datafield></record></collection> |
| id | DE-604.BV011747567 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:15:06Z |
| institution | BVB |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007926350 |
| oclc_num | 41080286 |
| open_access_boolean | |
| owner | DE-154 DE-739 DE-12 DE-91G DE-BY-TUM DE-634 |
| owner_facet | DE-154 DE-739 DE-12 DE-91G DE-BY-TUM DE-634 |
| physical | 53, 5 S. Ill., graph. Darst. |
| publishDate | 1997 |
| publishDateSearch | 1997 |
| publishDateSort | 1997 |
| record_format | marc |
| series2 | Universität <Passau> / Fakultät für Mathematik und Informatik: MIP |
| spelling | Wagner, Robert Verfasser aut A half perspective approach to robust ego motion estimation for calibrated cameras Robert Wagner ; Klaus Donner ; Feiyu Liu A half-perspective approach to robust ego-motion estimation for calibrated cameras Passau 1997 53, 5 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Universität <Passau> / Fakultät für Mathematik und Informatik: MIP 1997,18 Abstract: "A new computational approach to estimate the ego-motion of a camera from sets of point correspondences taken from a monocular image sequence is presented. The underlying theory is based on a decomposition of the complete set of model parameters into suitable subsets to be optimized separately, e.g. all stationary parameters concerning camera calibration are adjusted in advance (calibrated case). The first part of the paper is devoted to the description of the mathematical model, the so-called conic error model, and the numerical solution of the derived optimization problem. In contrast to existing methods, the conic error model permits to distinguish between feasible and non-feasible image correspondences related to 3D object points in front of and behind the camera, respectively. Based on this 'half-perspective' point of view, a well-balanced objective function is derived that encourages the proper detection of mismatches and distinct relative motions. In the second part, the results of various tests are presented and analyzed. The experimental study clearly shows that the numerical stability of the new approach is superior to that of so-called self-calibration techniques (uncalibrated case). Furthermore, the precision of the estimates is better than that achieved by comparable methods in the calibrated case based on a 'full-perspective' modeling and the related epipolar geometry. Accordingly, the accuracy of the resulting ego-motion estimation turns out to be excellent, even without any further temporal filtering." Computer vision Decomposition (Mathematics) Image processing Mathematical optimization Informatik (DE-588)4026894-9 gnd rswk-swf Mathematik (DE-588)4037944-9 gnd rswk-swf Theoretische Informatik (DE-588)4196735-5 gnd rswk-swf Theoretische Informatik (DE-588)4196735-5 s Informatik (DE-588)4026894-9 s Mathematik (DE-588)4037944-9 s DE-604 Donner, Klaus 1945- Verfasser (DE-588)1012341429 aut Liu, Feiyu Verfasser aut Fakultät für Mathematik und Informatik: MIP Universität <Passau> 1997,18 (DE-604)BV000905393 1997,18 |
| spellingShingle | Wagner, Robert Donner, Klaus 1945- Liu, Feiyu A half perspective approach to robust ego motion estimation for calibrated cameras Computer vision Decomposition (Mathematics) Image processing Mathematical optimization Informatik (DE-588)4026894-9 gnd Mathematik (DE-588)4037944-9 gnd Theoretische Informatik (DE-588)4196735-5 gnd |
| subject_GND | (DE-588)4026894-9 (DE-588)4037944-9 (DE-588)4196735-5 |
| title | A half perspective approach to robust ego motion estimation for calibrated cameras |
| title_alt | A half-perspective approach to robust ego-motion estimation for calibrated cameras |
| title_auth | A half perspective approach to robust ego motion estimation for calibrated cameras |
| title_exact_search | A half perspective approach to robust ego motion estimation for calibrated cameras |
| title_full | A half perspective approach to robust ego motion estimation for calibrated cameras Robert Wagner ; Klaus Donner ; Feiyu Liu |
| title_fullStr | A half perspective approach to robust ego motion estimation for calibrated cameras Robert Wagner ; Klaus Donner ; Feiyu Liu |
| title_full_unstemmed | A half perspective approach to robust ego motion estimation for calibrated cameras Robert Wagner ; Klaus Donner ; Feiyu Liu |
| title_short | A half perspective approach to robust ego motion estimation for calibrated cameras |
| title_sort | a half perspective approach to robust ego motion estimation for calibrated cameras |
| topic | Computer vision Decomposition (Mathematics) Image processing Mathematical optimization Informatik (DE-588)4026894-9 gnd Mathematik (DE-588)4037944-9 gnd Theoretische Informatik (DE-588)4196735-5 gnd |
| topic_facet | Computer vision Decomposition (Mathematics) Image processing Mathematical optimization Informatik Mathematik Theoretische Informatik |
| volume_link | (DE-604)BV000905393 |
| work_keys_str_mv | AT wagnerrobert ahalfperspectiveapproachtorobustegomotionestimationforcalibratedcameras AT donnerklaus ahalfperspectiveapproachtorobustegomotionestimationforcalibratedcameras AT liufeiyu ahalfperspectiveapproachtorobustegomotionestimationforcalibratedcameras |