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IROS
2006
IEEE

Homography-based Tracking for Central Catadioptric Cameras

9 years 8 months ago
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 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.
Christopher Mei, Selim Benhimane, Ezio Malis, Patr
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Christopher Mei, Selim Benhimane, Ezio Malis, Patrick Rives
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