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CVPR
2011
IEEE

Relative pose problem for non-overlapping surveillance cameras with known gravity vector

8 years 2 months ago
Relative pose problem for non-overlapping surveillance cameras with known gravity vector
We present a method for estimating the relative pose of two calibrated or uncalibrated non-overlapping surveillance cameras from observing a moving object. We show how to tackle the problem of missing point correspondences heavily required by SfM pipelines and how to go beyond this basic paradigm. We relax the non-linear nature of the problem by accepting two assumptions which surveillance scenarios offer, ie. the presence of a moving object and easily estimable gravity vector. By those assumptions we cast the problem as a Quadratic Eigenvalue Problem offering an elegant way of treating nonlinear monomials and delivering a quasi closed-form solution as a reliable starting point for a further bundle adjustment. We are the first to bring the closed form solution to such a very practical problem arising in video surveillance. Results in different camera setups demonstrate the feasibility of the approach.
Branislav Micusik
Added 08 Apr 2011
Updated 29 Apr 2011
Type Journal
Year 2011
Where CVPR
Authors Branislav Micusik
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