Planar Motion Bundle Adjustment

Marcus Örnhag, Mårten Wadenbäck

2019

Abstract

In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates the planar motion constraint, and devise a scheme that utilises the sparse structure of the problem. Experiments are carried out on real data and the proposed algorithm shows an improvement compared to established generic methods.

Paper Citation

in Harvard Style

Örnhag M. and Wadenbäck M. (2019). Planar Motion Bundle Adjustment.In Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-351-3, pages 24-31. DOI: 10.5220/0007247700240031

in Bibtex Style

@conference{icpram19,
author={Marcus Örnhag and Mårten Wadenbäck},
title={Planar Motion Bundle Adjustment},
booktitle={Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2019},
pages={24-31},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007247700240031},
isbn={978-989-758-351-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Planar Motion Bundle Adjustment
SN - 978-989-758-351-3
AU - Örnhag M.
AU - Wadenbäck M.
PY - 2019
SP - 24
EP - 31
DO - 10.5220/0007247700240031