NDLI: Real-time 3D motion and structure of point features: a front-end system for vision-based control and interaction

Content Provider	IEEE Xplore Digital Library
Author	Jin, H. Favaro, P. Soatto, S.
Copyright Year	2000
Description	Author affiliation: Univ. of Washington, St. Louis, MO, USA (Jin, H.; Favaro, P.; Soatto, S.)
Abstract	We present a system that consists of one camera connected to a personal computer that can (a) select and track a number of high-contrast point features on a sequence of images, (b) estimate their three-dimensional motion and position relative to an inertial reference frame, assuming rigidity, (c) handle occlusions that cause point-features to disappear as well as new features to appear. The system can also (d) perform partial self-calibration and (e) check for consistency of the rigidity assumption, although these features are not implemented in the current release. All of this is done automatically and in real-time (30 Hz) for 40-50 point features using commercial off-the-shelf hardware. The system is based on an algorithm presented by Chiuso et al. (2000), the properties of which have been analyzed by Chiuso and Soatto (2000). In particular, the algorithm is provably observable, provably minimal and provably stable- under suitable conditions. The core of the system, consisting of C++ code ready to interface with a frame grabber as well as Matlab code for development, is available at http://ee.wustl.edu/-soatto/research.html. We demonstrate the system by showing its use as (1) an ego-motion estimator, (2) an object tracker, and (3) an interactive input device, all without any modification of the system settings.
Sponsorship	IEEE Comput. Soc. IEEE Comput. Soc. Tech. Committee on Pattern Anal. & Machine Intelligence
Starting Page	778
Ending Page	779
File Size	236251
Page Count	2
File Format	PDF
ISBN	0769506623
ISSN	10636919
DOI	10.1109/CVPR.2000.854954
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Motion control Control systems
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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