NDLI: An $L_{∞}$ approach to structure and motion problems in ID-vision

Content Provider	IEEE Xplore Digital Library
Author	Astrom, K. Enquist, O. Olsson, C. Kahl, F. Hartley, R.
Copyright Year	2007
Description	Author affiliation: Lund Univ., Lund (Astrom, K.; Enquist, O.; Olsson, C.; Kahl, F.)
Abstract	The structure and motion problem of multiple one- dimensional projections of a two-dimensional environment is studied. One-dimensional cameras have proven useful in several different applications, most prominently for autonomous guided vehicles, but also in ordinary vision for analysing planar motion and the projection of lines. Previous results on one-dimensional vision are limited to classifying and solving minimal cases, bundle adjustment for finding local minima to the structure and motion problem and linear algorithms based on algebraic cost functions. In this paper, we present a method for finding the global minimum to the structure and motion problem using the max norm of reprojection errors. We show how the optimal solution can be computed efficiently using simple linear programming techniques. The algorithms have been tested on a variety of different scenarios, both real and synthetic, with good performance. In addition, we show how to solve the multiview triangulation problem, the camera pose problem and how to dualize the algorithm in the Carlsson duality sense, all within the same framework.
Starting Page	1
Ending Page	8
File Size	1771744
Page Count	8
File Format	PDF
ISBN	9781424416301
ISSN	15505499
DOI	10.1109/ICCV.2007.4408914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-14
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Remotely operated vehicles Optimization methods Mobile robots Navigation Simultaneous localization and mapping Automotive engineering Systems engineering and theory Motion analysis Cost function
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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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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