{"title":"将运动形状扩展到非中心定向相机","authors":"Dennis W. Strelow, Jeffrey Mishler, Sanjiv Singh, H. Herman","doi":"10.1109/IROS.2001.976379","DOIUrl":null,"url":null,"abstract":"Algorithms for shape-from-motion simultaneously estimate the camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general, and they handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"26","resultStr":"{\"title\":\"Extending shape-from-motion to noncentral onmidirectional cameras\",\"authors\":\"Dennis W. Strelow, Jeffrey Mishler, Sanjiv Singh, H. Herman\",\"doi\":\"10.1109/IROS.2001.976379\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Algorithms for shape-from-motion simultaneously estimate the camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general, and they handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.\",\"PeriodicalId\":319679,\"journal\":{\"name\":\"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)\",\"volume\":\"115 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2001-10-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"26\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2001.976379\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2001.976379","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 26

摘要

运动形状算法同时估计摄像机运动和场景结构。当扩展到全向相机时,运动形状算法可能提供鲁棒的运动估计,特别是因为相机的宽视场。在本文中,我们描述了全向相机的批处理和在线运动形状算法,以及一种精确的校准技术,可以提高这两种方法的精度。运动形状和校准方法是通用的,它们处理各种各样的全方位相机几何形状。特别是,该方法不要求相机-镜子组合有一个单一的投影中心。我们描述了一种我们已经开发的非中心相机,并通过实验表明,将运动形状与这种设计相结合可以产生高度精确的运动估计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Extending shape-from-motion to noncentral onmidirectional cameras
Algorithms for shape-from-motion simultaneously estimate the camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general, and they handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Artificial finger skin having ridges and distributed tactile sensors used for grasp force control Human-robot cooperative manipulation with motion estimation Integration of constraint logic programming and artificial neural networks for driving robots Simultaneous design of morphology of body, neural systems and adaptability to environment of multi-link-type locomotive robots using genetic programming Effects of limited bandwidth communications channels on the control of multiple robots
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1