In applications of egomotion estimation, such as real-time vision-based navigation, one must deal with the double-edged sword of small relative motions between images. On one hand, tracking feature points is easier, while on the other, two-view structure-from-motion algorithms are poorly conditioned due to the low signal-to-noise ratio. In this paper, we derive a multi-frame structure from motion algorithm for calibrated central panoramic cameras. Our algorithm avoids the conditioning problem by explicitly incorporating the small baseline assumption in the algorithm's design. The proposed algorithm is linear, amenable to real-time implementation, and performs well in the small baseline domain for which it is designed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Structure from Small Baseline Motion with Central Panoramic Cameras


    Beteiligte:
    Shakernia, Omid (Autor:in) / Vidal, Rene (Autor:in) / Sastry, Shankar (Autor:in)


    Erscheinungsdatum :

    01.06.2003


    Format / Umfang :

    197205 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Split-Scan Panoramic Cameras

    Hastings, Harry M. | SPIE | 1979


    Infinitesimal Motion Estimation from Multiple Central Panoramic Views

    Shakernia, O. / Vidal, R. / Sastry, S. | British Library Conference Proceedings | 2002


    Infinitesimal motion estimation from multiple central panoramic views

    Shakernia, O. / Vidal, R. / Sastry, S. | IEEE | 2002


    Multiview panoramic cameras using a mirror pyramid

    Kar-Han Tan, / Hua, H. / Ahuja, N. | IEEE | 2002


    Multiview Panoramic Cameras Using a Mirror Pyramid

    Tan, K.-H. / Hua, H. / Ahuja, N. | British Library Conference Proceedings | 2002