Homography-based Tracking for Central Catadioptric Cameras
This paper presents a parametric approach for tracking piecewise planar scenes with central catadioptric cameras (including perspective cameras). We extend the standard notion of homography to this wider range of devices through the unified projection model on the sphere. We avoid unwarping the imag...
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| creator | Mei, C. Benhimane, S. Malis, E. Rives, P. |
| description | This paper presents a parametric approach for tracking piecewise planar scenes with central catadioptric cameras (including perspective cameras). We extend the standard notion of homography to this wider range of devices through the unified projection model on the sphere. We avoid unwarping the image to a perspective view and take into account the non-uniform pixel resolution specific to non-perspective central catadioptric sensors. The homography is parametrised by the Lie algebra of the special linear group SL(3) to ensure that only eight free parameters are estimated. With this model, we use an efficient second-order minimisation technique leading to a fast tracking algorithm with a complexity similar to a first-order approach. The developed algorithm was tested on the estimation of the displacement of a mobile robot in a real application and proved to be very precise |
| doi_str_mv | 10.1109/IROS.2006.282553 |
| format | Conference Proceeding |
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The developed algorithm was tested on the estimation of the displacement of a mobile robot in a real application and proved to be very precise</description><subject>Algebra</subject><subject>Cameras</subject><subject>Computer Science</subject><subject>Image resolution</subject><subject>Image sensors</subject><subject>Layout</subject><subject>Minimization methods</subject><subject>Mobile robots</subject><subject>Parameter estimation</subject><subject>Pixel</subject><subject>Robotics</subject><subject>Testing</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424402588</isbn><isbn>1424402581</isbn><isbn>9781424402595</isbn><isbn>142440259X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVjk1Lw0AQhtcvsNTeBS-5ekjdr9nseiuh2kKhoPUcJtlJE02bsglC_72RSsH3Msw8D8PL2L3gUyG4e1q-rd-nknMzlVYCqAs2cYkVWmrNJTi4ZCMpQMXcGnP1j1l7fWZgb9mk6z75EOVACztiz4t2124DHqpjnGNHPtoELL7q_TYq2xCltO8DNlGKPfq6PfShLoZlRwG7O3ZTYtPR5G-O2cfLfJMu4tX6dZnOVnEluetjD2TJW1MISaXJFeQ09HPgZJH4nAtPUhTgXI5eqRxJl-R5ohAMCa7AqzF7PP2tsMkOod5hOGYt1tlitsp-b1wb0ElivsXgPpzcmojOsuZgtQL1AyHmWqE</recordid><startdate>200610</startdate><enddate>200610</enddate><creator>Mei, C.</creator><creator>Benhimane, S.</creator><creator>Malis, E.</creator><creator>Rives, P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0002-6584-6790</orcidid></search><sort><creationdate>200610</creationdate><title>Homography-based Tracking for Central Catadioptric Cameras</title><author>Mei, C. ; Benhimane, S. ; Malis, E. ; Rives, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-h209t-d5e8ed86c12ef6b35be9789592c7db01de21c599bad33bae4fed073a56e1035d3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Algebra</topic><topic>Cameras</topic><topic>Computer Science</topic><topic>Image resolution</topic><topic>Image sensors</topic><topic>Layout</topic><topic>Minimization methods</topic><topic>Mobile robots</topic><topic>Parameter estimation</topic><topic>Pixel</topic><topic>Robotics</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Mei, C.</creatorcontrib><creatorcontrib>Benhimane, S.</creatorcontrib><creatorcontrib>Malis, E.</creatorcontrib><creatorcontrib>Rives, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Mei, C.</au><au>Benhimane, S.</au><au>Malis, E.</au><au>Rives, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Homography-based Tracking for Central Catadioptric Cameras</atitle><btitle>2006 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2006-10</date><risdate>2006</risdate><spage>669</spage><epage>674</epage><pages>669-674</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424402588</isbn><isbn>1424402581</isbn><eisbn>9781424402595</eisbn><eisbn>142440259X</eisbn><abstract>This paper presents a parametric approach for tracking piecewise planar scenes with central catadioptric cameras (including perspective cameras). 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| ispartof | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, p.669-674 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Algebra Cameras Computer Science Image resolution Image sensors Layout Minimization methods Mobile robots Parameter estimation Pixel Robotics Testing |
| title | Homography-based Tracking for Central Catadioptric Cameras |
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