ICRA 2012 Paper Abstract


Paper WeD110.3

Kawanishi, Ryosuke (Shizuoka University), Yamashita, Atsushi (The University of Tokyo), Kaneko, Toru (Shizuoka Universiry), Asama, Hajime (The University of Tokyo)

Line-Based Camera Movement Estimation by Using Parallel Lines in Omnidirectional Video

Scheduled for presentation during the Interactive Session "Interactive Session WeD-1" (WeD110), Wednesday, May 16, 2012, 16:30−17:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Localization, Omnidirectional Vision, SLAM


In this paper, we propose an efficient estimation method of an omnidirectional camera movement. The proposed method is based on Structure from Motion utilizing a constraint of parallel lines. In an environment having manmade structures, parallel lines can be extracted from an omnidirectional image easily and constantly, because of its wide field of view. Parallel lines provides a valuable constraint for camera movement estimation. The proposed method can estimate 3-D camera movements by solving one degree of freedom problem three times without regard to the number of viewpoints. Experimental results show the effectiveness of our proposed method.



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