NDLI: Multiple plane tracking using Unscented Kalman Filter

Content Provider	IEEE Xplore Digital Library
Author	Chari, V. Jawahar, C.V.
Copyright Year	2010
Description	Author affiliation: International Institute of Information Technology, Hyderabad, India (Jawahar, C.V.) \|\| INRIA Rhône Alpes, Grenoble, France (Chari, V.)
Abstract	An important pre-requisite for many tasks like Visual Servoing and visual SLAM is the task of tracking the underlying features. The use of planar features for these purposes has gained importance recently. Complementing current planar tracking works in the robotics literature, which use multiple features, we formulate the tracking problem using multiple planes. Inspired by the maturity in understanding of geometric quantities like the homography in computer vision, we develop a system based on the Unscented Kalman Filter (UKF) that localizes the camera and estimates the plane parameters of a scene, using homographies as measurement. Homographies are estimated using tracked feature points. We show that this framework provides significant robustness and stability to the system under significant changes of illumination, occlusion etc. Finally, we also propose a Convex optimization based solution for the initialization of this system, which is capable of producing globally optimal estimates, and is a useful algorithm in its own right. Several synthetic and real results are presented to demonstrate the efficacy of our approach.
Starting Page	2914
Ending Page	2919
File Size	1550962
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650847
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Kalman filters Cameras Noise Estimation Equations Convex functions
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in