Tracking planes in omnidirectional stereovision

Guillaume Caron 1 E. Marchand 2 E. Mouaddib 1
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Omnidirectional cameras allow direct tracking and motion estimation of planar regions in images during a long period of time. However, using only one camera leads to plane and trajectory reconstruction up to a scale factor. We propose to develop dense plane tracking based on omnidirectional stereovision to answer this issue. The presented method estimates simultaneously the parameters of several 3D planes along with the camera motion with a spherical model formulation. Results show the efficiency of the approach.
Keywords : tracking
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'11, May 2011, Shanghai, China. pp.6306-6311
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Soumis le : mercredi 9 novembre 2011 - 16:47:10
Dernière modification le : mercredi 28 février 2018 - 10:22:56
Document(s) archivé(s) le : vendredi 10 février 2012 - 02:35:12


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Guillaume Caron, E. Marchand, E. Mouaddib. Tracking planes in omnidirectional stereovision. IEEE Int. Conf. on Robotics and Automation, ICRA'11, May 2011, Shanghai, China. pp.6306-6311. 〈hal-00639646〉



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