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Homography based egomotion estimation with a common direction

Saurer, Oliver and Vasseur, Pascal and Boutteau, Remi and Demonceaux, Cedric and Pollefeys, Marc and Fraundorfer, Friedrich (2017) Homography based egomotion estimation with a common direction. IEEE Transactions on Pattern Analysis and Machine Intelligence, 39 (2), pp. 327-341. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/TPAMI.2016.2545663 ISSN 0162-8828

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Official URL: http://ieeexplore.ieee.org/document/7439820/

Abstract

In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gr¨obner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.

Item URL in elib:https://elib.dlr.de/104773/
Document Type:Article
Title:Homography based egomotion estimation with a common direction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Saurer, Oliversaurero (at) inf.ethz.chUNSPECIFIED
Vasseur, PascalUNSPECIFIEDUNSPECIFIED
Boutteau, RemiUNSPECIFIEDUNSPECIFIED
Demonceaux, CedricUNSPECIFIEDUNSPECIFIED
Pollefeys, MarcUNSPECIFIEDUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.deUNSPECIFIED
Date:February 2017
Journal or Publication Title:IEEE Transactions on Pattern Analysis and Machine Intelligence
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:39
DOI :10.1109/TPAMI.2016.2545663
Page Range:pp. 327-341
Editors:
EditorsEmail
Forsyth, David A.daf@illinois.edu
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:0162-8828
Status:Published
Keywords:Homography
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By:INVALID USER
Deposited On:04 Jul 2016 12:37
Last Modified:06 Sep 2019 15:30

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