OMNIDIRECTIONAL CAMERA MOTION ESTIMATION

Akihiko Torii, Tomáš Pajdla

2008

Abstract

We present an automatic technique for computing relative camera motion and simultaneous omnidirectional image matching. Our technique works for small as well as large motions, tolerates multiple moving objects and very large occlusions in the scene. We combine three principles and obtain a practical algorithm which improves the state of the art. First, we show that the correct motion is found much sooner if the tentative matches are sampled after ordering them by the similarity of their descriptors. Secondly, we show that the correct camera motion can be better found by soft voting for the direction of the motion than by selecting the motion that is supported by the largest set of matches. Finally, we show that it is useful to filter out the epipolar geometries which are not generated by points reconstructed in front of cameras. We demonstrate the performance of the technique in an experiment with 189 image pairs acquired in a city and in a park. All camera motions were recovered with the error of the motion direction smaller than 8◦, which is 4 % of the 183◦ field of view, w.r.t. the ground truth.

Paper Citation

in Harvard Style

Torii A. and Pajdla T. (2008). OMNIDIRECTIONAL CAMERA MOTION ESTIMATION . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 577-584. DOI: 10.5220/0001084505770584

in Bibtex Style

@conference{visapp08,
author={Akihiko Torii and Tomáš Pajdla},
title={OMNIDIRECTIONAL CAMERA MOTION ESTIMATION},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},
year={2008},
pages={577-584},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001084505770584},
isbn={978-989-8111-21-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
TI - OMNIDIRECTIONAL CAMERA MOTION ESTIMATION
SN - 978-989-8111-21-0
AU - Torii A.
AU - Pajdla T.
PY - 2008
SP - 577
EP - 584
DO - 10.5220/0001084505770584