Authors:
Marcus Valtonen Örnhag
and
Anders Heyden
Affiliation:
Lund University, Sweden
Keyword(s):
Relative Pose Estimation, SLAM, Visual Odometry, Binocular Vision, Planar Motion, Homography.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Human-Computer Interaction
;
Methodologies and Methods
;
Motion and Tracking
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Physiological Computing Systems
;
Robotics
;
Software Engineering
Abstract:
In this paper we consider a mobile platform with two cameras directed towards the floor mounted the same distance from the ground, assuming planar motion and constant internal parameters. Earlier work related to this specific problem geometry has been carried out for monocular systems, and the main contribution of this paper is the generalization to a binocular system and the recovery of the relative translation and orientation between the cameras. The method is based on previous work on monocular systems, using sequences of inter-image
homographies. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters.