loading
Documents

Research.Publish.Connect.

Paper

Author: Marcus Örnhag

Affiliation: Centre for Mathematical Sciences, Lund University, Lund, Sweden

ISBN: 978-989-758-351-3

Keyword(s): Planar Motion, Homography, Polynomial Solver, Trajectory Recovery, Visual Odometry.

Abstract: This paper presents a novel polynomial constraint for homographies compatible with the general planar motion model. In this setting, compatible homographies have five degrees of freedom—instead of the general case of eight degrees of freedom—and, as a consequence, a minimal solver requires 2.5 point correspondences. The existing minimal solver, however, is computationally expensive, and we propose using non-minimal solvers, which significantly reduces the execution time of obtaining a compatible homography, with accuracy and robustness comparable to that of the minimal solver. The proposed solvers are compared with the minimal solver and the traditional 4-point solver on synthetic and real data, and demonstrate good performance, in terms of speed and accuracy. By decomposing the homographies obtained from the different methods, it is shown that the proposed solvers have future potential to be incorporated in a complete Simultaneous Localization and Mapping (SLAM) framework.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.206.48.142

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Örnhag, M. (2019). Fast Non-minimal Solvers for Planar Motion Compatible Homographies.In Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-351-3, pages 40-51. DOI: 10.5220/0007258600400051

@conference{icpram19,
author={Marcus Valtonen Örnhag.},
title={Fast Non-minimal Solvers for Planar Motion Compatible Homographies},
booktitle={Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2019},
pages={40-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007258600400051},
isbn={978-989-758-351-3},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Fast Non-minimal Solvers for Planar Motion Compatible Homographies
SN - 978-989-758-351-3
AU - Örnhag, M.
PY - 2019
SP - 40
EP - 51
DO - 10.5220/0007258600400051

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.