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2007
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Differential Camera Tracking through Linearizing the Local Appearance Manifold

11 years 1 months ago
Differential Camera Tracking through Linearizing the Local Appearance Manifold
The appearance of a scene is a function of the scene contents, the lighting, and the camera pose. A set of n-pixel images of a non-degenerate scene captured from different perspectives lie on a 6D nonlinear manifold in n . In general, this nonlinear manifold is complicated and numerous samples are required to learn it globally. In this paper, we present a novel method and some preliminary results for incrementally tracking camera motion through sampling and linearizing the local appearance manifold. At each frame time, we use a cluster of calibrated and synchronized small baseline cameras to capture scene appearance samples at different camera poses. We compute a first-order approximation of the appearance manifold around the current camera pose. Then, as new cluster samples are captured at the next frame time, we estimate the incremental camera motion using a linear solver. By using intensity measurements and directly sampling the appearance manifold, our method avoids the commonly-u...
Hua Yang, Marc Pollefeys, Greg Welch, Jan-Michael
Added 12 Oct 2009
Updated 12 Oct 2009
Type Conference
Year 2007
Where CVPR
Authors Hua Yang, Marc Pollefeys, Greg Welch, Jan-Michael Frahm, Adrian Ilie
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