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A linear approach to motion estimation using generalized camera models

Li, Hongdong; Hartley, Richard; Kim, Jae-Hak

Description

A well-known theoretical result for motion estimation using the generalized camera model is that 17 corresponding image rays can be used to solve linearly for the motion of a generalized camera. However, this paper shows that for many common configurations of the generalized camera models (e.g., multi-camera rig, catadioptric camera etc.), such a simple 17-point algorithm does not exist, due to some previously overlooked ambiguities. We further discover that, despite the above ambiguities, we...[Show more]

dc.contributor.authorLi, Hongdong
dc.contributor.authorHartley, Richard
dc.contributor.authorKim, Jae-Hak
dc.coverage.spatialAnchorage Alaska
dc.date.accessioned2015-12-08T22:33:19Z
dc.date.createdJune 24-26 2008
dc.identifier.isbn9781424422432
dc.identifier.urihttp://hdl.handle.net/1885/34627
dc.description.abstractA well-known theoretical result for motion estimation using the generalized camera model is that 17 corresponding image rays can be used to solve linearly for the motion of a generalized camera. However, this paper shows that for many common configurations of the generalized camera models (e.g., multi-camera rig, catadioptric camera etc.), such a simple 17-point algorithm does not exist, due to some previously overlooked ambiguities. We further discover that, despite the above ambiguities, we are still able to solve the motion estimation problem effectively by a new algorithm proposed in this paper. Our algorithm is essentially linear, easy to implement, and the computational efficiency is very high. Experiments on both real and simulated data show that the new algorithm achieves reasonably high accuracy as well.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesComputer Vision and Pattern Recognition Conference (CVPR 2008)
dc.sourceProceedings of CVPR 2008
dc.subjectKeywords: Camera modeling; Estimation problems; High-accuracy; Linear approach; Multi-camera rigs; New algorithm; Simulated data; Algorithms; Artificial intelligence; Cameras; Computer vision; Estimation; Feature extraction; Image processing; Pattern recognition; S
dc.titleA linear approach to motion estimation using generalized camera models
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2008
local.identifier.absfor080106 - Image Processing
local.identifier.absfor080104 - Computer Vision
local.identifier.ariespublicationu4334215xPUB115
local.type.statusPublished Version
local.contributor.affiliationLi, Hongdong, College of Engineering and Computer Science, ANU
local.contributor.affiliationHartley, Richard, College of Engineering and Computer Science, ANU
local.contributor.affiliationKim, Jae-Hak, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage8
local.identifier.doi10.1109/CVPR.2008.4587545
dc.date.updated2015-12-08T09:34:39Z
local.identifier.scopusID2-s2.0-51949101239
CollectionsANU Research Publications

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