Estimation of the epipole using optical flow at antipodal points
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We present algorithms for estimating the epipole or direction of translation of a moving camera. We use constraints arising from two points that are antipodal on the image sphere in order to decouple rotation from translation. One pair of antipodal points constrains the epipole to lie on a plane, and two such pairs will correspondingly give two planes. The intersection of these two planes is an estimate of the epipole. This means we require image motion measurements at two pairs of antipodal...[Show more]
dc.contributor.author | Lim, John | |
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dc.contributor.author | Barnes, Nick | |
dc.date.accessioned | 2015-12-10T22:59:29Z | |
dc.identifier.issn | 1077-3142 | |
dc.identifier.uri | http://hdl.handle.net/1885/61104 | |
dc.description.abstract | We present algorithms for estimating the epipole or direction of translation of a moving camera. We use constraints arising from two points that are antipodal on the image sphere in order to decouple rotation from translation. One pair of antipodal points constrains the epipole to lie on a plane, and two such pairs will correspondingly give two planes. The intersection of these two planes is an estimate of the epipole. This means we require image motion measurements at two pairs of antipodal points to obtain an estimate. Two classes of algorithms are possible and we present two simple yet extremely robust algorithms representative of each class. These are shown to have comparable accuracy with the state of the art when tested in simulation under noise and with real image sequences. | |
dc.publisher | Academic Press | |
dc.source | Computer Vision and Image Understanding | |
dc.subject | Keywords: A-plane; Antipodal points; Ego-motion estimation; Epipole; Image motion; Moving cameras; Multi-view geometry; Omnidirectional cameras; Real image sequences; Robust algorithm; State of the art; Two-point; Cameras; Optical flows; Video cameras; Estimation Egomotion estimation; Multi-view Geometry; Omnidirectional cameras | |
dc.title | Estimation of the epipole using optical flow at antipodal points | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 114 | |
dc.date.issued | 2010 | |
local.identifier.absfor | 080104 - Computer Vision | |
local.identifier.ariespublication | u4334215xPUB587 | |
local.type.status | Published Version | |
local.contributor.affiliation | Lim, John, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Barnes, Nick, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 2 | |
local.bibliographicCitation.startpage | 245 | |
local.bibliographicCitation.lastpage | 253 | |
local.identifier.doi | 10.1016/j.cviu.2009.04.005 | |
local.identifier.absseo | 970108 - Expanding Knowledge in the Information and Computing Sciences | |
dc.date.updated | 2016-02-24T11:02:08Z | |
local.identifier.scopusID | 2-s2.0-74449086852 | |
Collections | ANU Research Publications |
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