NDLI: Tracking 3-D motion from straight lines with trifocal tensors

Content Provider	Springer Nature Link
Author	Lee, Kai Ki Yu, Ying Kin Wong, Kin Hong Chang, Michael Ming Yuen
Copyright Year	2014
Abstract	We present a novel approach to track the position and orientation of a stereo camera using line features in the images. The method combines the strengths of trifocal tensors and Bayesian filtering. The trifocal tensor provides a geometric constraint to lock line features among every three frames. It eliminates the explicit reconstruction of the scene even if the 3-D scene structure is not known. Such a trifocal constraint thus makes the algorithm fast and robust. The twist motion model is applied to further improve its computation efficiency. Another major contribution is that our approach can obtain the 3-D camera motion using as little as 2 line correspondences instead of 13 in the traditional approaches. This makes the approach attractive for realistic applications. The performance of the proposed method has been evaluated using both synthetic and real data with encouraging results. Our algorithm is able to estimate 3-D camera motion in real scenarios accurately having little drifting from an image sequence longer than a 1,000 frames.
Starting Page	181
Ending Page	195
Page Count	15
File Format	PDF
ISSN	09424962
Journal	Multimedia Systems
Volume Number	22
Issue Number	2
e-ISSN	14321882
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-12-27
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Trifocal tensor Kalman filtering Pose tracking Stereo vision Structure Motion Robot vision Twist Multimedia Information Systems Computer Communication Networks Operating Systems Data Storage Representation Data Encryption Computer Graphics
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications Information Systems Media Technology Hardware and Architecture Software

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