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2008
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Automatically smoothing camera pose using cross validation for sequential vision-based 3D mapping

10 years 2 months ago
Automatically smoothing camera pose using cross validation for sequential vision-based 3D mapping
— Building an accurate three dimensional map is an important task for autonomous localisation and navigation. In a sequential approach to reconstruction from video streams, we show how adding prior knowledge about camera motion improves reconstruction accuracy, obtaining a more precise trajectory estimation and preventing failures over time. We add a smoothing penalty on camera trajectory and the smoothing parameter, usually fixed by trial and error, is automatically estimated using Cross-Validation. The method is substantiated by experimental results on synthetic and real data. They show that it improves accuracy and stability in the reconstruction process, preventing several failure cases.
Michela Farenzena, Adrien Bartoli, Youcef Mezouar
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Michela Farenzena, Adrien Bartoli, Youcef Mezouar
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