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Authors: Marcus Valtonen Örnhag and Anders Heyden

Affiliation: Lund University, Sweden

ISBN: 978-989-758-276-9

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.

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Paper citation in several formats:
Örnhag, M. and Heyden, A. (2018). Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies.In Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-276-9, pages 568-575. DOI: 10.5220/0006695305680575

@conference{icpram18,
author={Marcus Valtonen Örnhag. and Anders Heyden.},
title={Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies},
booktitle={Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2018},
pages={568-575},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006695305680575},
isbn={978-989-758-276-9},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies
SN - 978-989-758-276-9
AU - Örnhag, M.
AU - Heyden, A.
PY - 2018
SP - 568
EP - 575
DO - 10.5220/0006695305680575

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