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Estimating Relative Camera Motion from the Antipodal-Epipolar Constraint

Lim, John; Barnes, Nick; Li, Hongdong

Description

This paper introduces a novel antipodal-epipolar constraint on relative camera motion. By using antipodal points, which are available in large Field-of-View cameras, the translational and rotational motions of a camera are geometrically decoupled, allowing them to be separately estimated as two problems in smaller dimensions. We present a new formulation based on discrete camera motions, which works over a larger range of motions compared to previous differential techniques using antipodal...[Show more]

dc.contributor.authorLim, John
dc.contributor.authorBarnes, Nick
dc.contributor.authorLi, Hongdong
dc.date.accessioned2015-12-10T22:45:43Z
dc.identifier.issn0162-8828
dc.identifier.urihttp://hdl.handle.net/1885/58619
dc.description.abstractThis paper introduces a novel antipodal-epipolar constraint on relative camera motion. By using antipodal points, which are available in large Field-of-View cameras, the translational and rotational motions of a camera are geometrically decoupled, allowing them to be separately estimated as two problems in smaller dimensions. We present a new formulation based on discrete camera motions, which works over a larger range of motions compared to previous differential techniques using antipodal points. The use of our constraints is demonstrated with two robust and practical algorithms, one based on RANSAC and the other based on Hough-like voting. As an application of the motion decoupling property, we also present a new structure-from-motion algorithm that does not require explicitly estimating rotation (it uses only the translation found with our methods). Finally, experiments involving simulations and real image sequences will demonstrate that our algorithms perform accurately and robustly, with some advantages over the state-of-the-art.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.sourceIEEE Transactions on Pattern Analysis and Machine Intelligence
dc.subjectKeywords: Antipodal points; epipolar constraint; Hough; Multi-view geometry; Robust estimation; structure and motion; Algorithms; Estimation; Joints (structural components); Cameras antipodal points; epipolar constraint; Hough; Multiview geometry; robust estimation; structure and motion
dc.titleEstimating Relative Camera Motion from the Antipodal-Epipolar Constraint
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume32
dc.date.issued2010
local.identifier.absfor080106 - Image Processing
local.identifier.ariespublicationu4334215xPUB450
local.type.statusPublished Version
local.contributor.affiliationLim, John, College of Engineering and Computer Science, ANU
local.contributor.affiliationBarnes, Nick, College of Engineering and Computer Science, ANU
local.contributor.affiliationLi, Hongdong, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.issue10
local.bibliographicCitation.startpage1907
local.bibliographicCitation.lastpage1914
local.identifier.doi10.1109/TPAMI.2010.113
local.identifier.absseo899999 - Information and Communication Services not elsewhere classified
dc.date.updated2016-02-24T11:00:49Z
local.identifier.scopusID2-s2.0-77956059055
local.identifier.thomsonID000281000700015
CollectionsANU Research Publications

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