[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ skip to main content
research-article

Stereo geometry from 3D ego-motion streams

Published: 01 April 2003 Publication History

Abstract

This paper addresses the problem of geometry determination of a stereo rig that undergoes general rigid motions. Neither known reference objects nor stereo correspondence are required. With almost no exception, all existing online solutions attempt to recover stereo geometry by first establishing stereo correspondences. We first describe a mathematical framework that allows us to solve for stereo geometry, i.e., the rotation and translation between the two cameras, using only motion correspondence that is far easier to acquire than stereo correspondence. Second, we show how to recover the rotation and present two linear methods, as well as a nonlinear one to solve for the translation. Third, we perform a stability study for the developed methods in the presence of image noise, camera parameter noise, and ego-motion noise. We also address accuracy issues. Experiments with real image data are presented. The work allows the concept of online calibration to be broadened, as it is no longer true that only single cameras can exploit structure-from-motion strategies; even the extrinsic parameters of a stereo rig of cameras can do so without solving stereo correspondence. The developed framework is applicable for estimating the relative three-dimensional (3D) geometry associated with a wide variety of mounted devices used in vision and robotics, by exploiting their scaled ego-motion streams.

Cited By

View all

Recommendations

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics  Volume 33, Issue 2
April 2003
187 pages

Publisher

IEEE Press

Publication History

Published: 01 April 2003

Qualifiers

  • Research-article

Contributors

Other Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

  • Downloads (Last 12 months)0
  • Downloads (Last 6 weeks)0
Reflects downloads up to 21 Dec 2024

Other Metrics

Citations

Cited By

View all
  • (2017)Ego-motion estimation concepts, algorithms and challengesMultimedia Tools and Applications10.1007/s11042-016-3939-476:15(16581-16603)Online publication date: 1-Aug-2017
  • (2015)Multi-Camera Structure from Motion with Eye-to-Eye CalibrationPattern Recognition10.1007/978-3-319-24947-6_3(29-40)Online publication date: 7-Oct-2015
  • (2008)Data Selection for Hand-eye CalibrationInternational Journal of Robotics Research10.1177/027836490809517227:9(1027-1053)Online publication date: 1-Sep-2008
  • (2007)Determining relative geometry of cameras from normal flowsProceedings of the 8th Asian conference on Computer vision - Volume Part II10.5555/1775728.1775765(301-310)Online publication date: 18-Nov-2007
  • (2006)Direct estimation of the stereo geometry from monocular normal flowsProceedings of the Second international conference on Advances in Visual Computing - Volume Part I10.1007/11919476_31(303-312)Online publication date: 6-Nov-2006

View Options

View options

Media

Figures

Other

Tables

Share

Share

Share this Publication link

Share on social media