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Constrained multiple planar template tracking for central catadioptric cameras (2006)
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| Venue: | In British Machine Vision Conference |
| Citations: | 11 - 6 self |
BibTeX
@INPROCEEDINGS{Mei06constrainedmultiple,
author = {Christopher Mei and Selim Benhimane and Ezio Malis and Patrick Rives and Inria Sophia},
title = {Constrained multiple planar template tracking for central catadioptric cameras},
booktitle = {In British Machine Vision Conference},
year = {2006},
pages = {4--7}
}
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Abstract
This paper presents a homography-based approach for tracking multiple planar templates with central catadioptric cameras (which include perspective cameras). We extend the standard notion of homography to this wider range of devices through the unified projection model on the sphere. To enforce the same movement of the camera for the different planes, we parametrise the homography by the Lie algebra of the special euclidean group SE(3) and estimate the normal and depth for each plane. With this model, we use a minimisation technique to obtain a close to second-order convergence rate with a complexity similar to a first-order approach. The proposed method takes into account the non-uniform resolution of the sensor and proved robust to poor initial values for the plane normals. To assess the precision of the approach, the developed algorithm was tested on the estimation of the displacement of a mobile robot in a real application. We compare the results when the planes are tracked independently to the constrained case. We show that the proposed minimisation approach leads to better results in terms of speed and precision than current tracking algorithms. 1
Keyphrases
multiple planar template central catadioptric camera minimisation technique constrained case homography-based approach mobile robot plane normal standard notion wider range second-order convergence rate perspective camera poor initial value unified projection model non-uniform resolution different plane minimisation approach first-order approach developed algorithm lie algebra real application special euclidean group se
