NDLI: Projective rotations applied to a pan-tilt stereo head

Content Provider	IEEE Xplore Digital Library
Author	Ruf, A. Horaud, R.
Copyright Year	1999
Description	Author affiliation: GRAVIR-IMAG, INRI, St. Martin, France (Ruf, A.)
Abstract	A non-metric pan-tilt stereo head consists of a weakly calibrated stereo rig mounted on a pan-tilt mechanism. It is called non-metric since neither the kinematics of the mechanism, nor the camera calibration are required. The Lie group of "projective rotations"-homographies of projective space corresponding to rotational displacements is a new, formalism that is introduced in this article to model the geometry of such a pan-tilt system. A Rodrigues-like formula as well as a minimal parameterization of projective rotations are introduced. Based on this, the practical part of the article devises a numerical optimization technique for accurately estimating projective rotations from stereo point correspondences along trial motions. This procedure recovers sufficient geometry to operate the system. The experiments validate and evaluate the proposed approach on real image data. They evaluate weak calibration, image prediction, and homing of a non-metric pan-tilt stereo head.
Starting Page	144
Ending Page	150
File Size	768427
Page Count	7
File Format	PDF
ISBN	0769501494
ISSN	10636919
DOI	10.1109/CVPR.1999.786931
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-06-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Head Cameras Calibration Geometry Motion estimation Computer vision Visual servoing Servomotors Kinematics
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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