NDLI: Linear Quasi-Parallax SfM Using Laterally-Placed Eyes

Content Provider	Springer Nature Link
Author	Hu, Chuanxin Cheong, Loong Fah
Copyright Year	2009
Abstract	A large class of visual systems in the biological world often has multiple eyes in simultaneous motion and yet has little or no overlap in the visual fields between the eyes. These systems include the lateral eyes found in many vertebrates and the compound eyes in insects. Instead of computing feature correspondences between the eyes, which might not even be possible due to the lack of overlap in the visual fields, we exploit the organizational possibility offered by the eye topography. In particular, we leverage on the pair of visual rays that are parallel to each other but opposite in direction, and compute what we call the quasi-parallax for translation recovery. Besides resulting in parsimonious visual processing, the quasi-parallax term also enhances the information pick-up for the translation, as it is almost rotation-free. The rotation is subsequently recovered from a pencil of visual rays using the individual epipolar constraints of each camera. As a result of using these different and appropriate aspects of visual rays for motion recovery, our method is numerically more effective in disambiguating the translation and rotation. In comparison to the gold standard solution obtained by the bundle adjustment (BA) technique, our method has a better Fisher information matrix for a lateral eye pair, as well as a superior experimental performance under the case of narrow field of view. For other eye configurations, the two methods achieve comparable performances, with our linear method slightly edging the nonlinear BA method when there exists imperfection in the calibration.
Starting Page	21
Ending Page	39
Page Count	19
File Format	PDF
ISSN	09205691
Journal	International Journal of Computer Vision
Volume Number	84
Issue Number	1
e-ISSN	15731405
Language	English
Publisher	Springer US
Publisher Date	2009-03-21
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Ego-motion estimation based on optical flow Quasi-parallax terms Lateral camera pairs Compound eyes Pattern Recognition Image Processing and Computer Vision Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Vision and Pattern Recognition Software

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

Quasi-Parallax for Nearly Parallel Frontal Eyes : A Possible Role of Binocular Overlap During Rapid Locomotion

Planar Motion Estimation and Linear Ground Plane Rectification using an Uncalibrated Generic Camera

Simultaneous Camera Pose and Correspondence Estimation with Motion Coherence

Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor

A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments

On Camera Calibration with Linear Programming and Loop Constraint Linearization

Infinitesimal Plane-Based Pose Estimation

Low-drift and real-time lidar odometry and mapping

Plane-Based Calibration for Linear Cameras

Linear Quasi-Parallax SfM Using Laterally-Placed Eyes

Similar Documents

Quasi-Parallax for Nearly Parallel Frontal Eyes : A Possible Role of Binocular Overlap During Rapid Locomotion

Planar Motion Estimation and Linear Ground Plane Rectification using an Uncalibrated Generic Camera

Simultaneous Camera Pose and Correspondence Estimation with Motion Coherence

Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor

A method for ego-motion estimation in micro-hovering platforms flying in very cluttered environments

On Camera Calibration with Linear Programming and Loop Constraint Linearization

Infinitesimal Plane-Based Pose Estimation

Low-drift and real-time lidar odometry and mapping

Plane-Based Calibration for Linear Cameras

Linear Quasi-Parallax SfM Using Laterally-Placed Eyes