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Online Structure and Motion for General Camera Models Gerald Schweighofer. Motivation: Robots. Motivation: Robots. Motivation: User Guidance. Agenda. Robust Pose Online SaM SaM for GCM Online Robust. Experiments Feature Generation Simulations Real Sequenzes. Robust Pose.
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Online Structure and Motion for General Camera ModelsGerald Schweighofer
Agenda • Robust Pose • Online SaM • SaM for GCM • Online • Robust • Experiments • Feature Generation • Simulations • Real Sequenzes
Robust Pose 4th order polynomial
Online SaM for GCM General Camera Model Object space cost Globally Convergent SaM SaM as an optimization problem closed form solutions for structure and camera position Proven convergence Online/Realtime SaM constant amount of CPU time / frame Robustness
v c Camera • An example • Stereo Setup General Camera Model • Measurements are rays of light (c,v) • c ... a point • v ... a vector
closed form structure closed form translation Iterative Rotation estimation • Solve one iteration using SVD or quaternions • Results in a globally convergent algorithm.
pre-calculate Online/Realtime SaM • Assumption: old Frames stay constant.
pre-calculate Online/Realtime SaM • Assumption: old Frames stay constant.
Experiments Simulation Natural Landmarks Artificial Landmarks House Sequence Bridging Marker less Environment Laboratory Sequence
Simulation Object: Cylinder 70 random points diameter: 1 meter height: 1 meter Motion: Circle diameter: 6 meter 100 frames / every 3.6° 0.5 Pixel Gaussian noise
Simulation 10 ms := 100 Frames / sec for SaM
Artficial Landmarks • ARToolKit Marker
Automatic Generation of Scene Description standard deviation: 0.48 %
Conclusion • Robust Pose • Structure and Motion for GCM • General Camera Model • Online Algorithm • Robust to Outliers • Experiments
Institute of Electrical Measurement and Measurement Signal Processing Online SaM for GCM RIGOROSUM 03.07.2008 Gerald Schweighofer Publications
Frames to optimize affected Points classical algorithms proposed algorithms Time Complexity Points Frames