Spherical Region-Based Matching of Vanishing Points in Catadioptric Images

Abstract : A large literature exists for rotation estimation using van- ishing points (VP). All these VP-based methods require to match the vanishing points in consecutive frames. It is usually considered that this matching step is trivial. However whereas some techniques exist, they suffer from some important limitations and might not work correctly in real robotic applications. For example, the continuity constraint (which aims to match the pair of VPs having the lowest angular distance) cannot handle large rotations and the line matching technique is very slow to execute and assumes accurate/stable line detection. In this paper, we present a fast and robust method to build the correspondences of VPs in catadioptric images. This work is strongly motivated by our research on real-time rotation estimation for dynamic vehicles using catadioptric vision. The underlying idea of the proposed method consists in matching, by histogram comparison, the spherical regions defined by the VPs in the equivalent sphere. Experiments have demonstrated the efficiency of this approach in terms of speed and robustness to translation, rotation, dynamic environment and image blurring.
Type de document :
Communication dans un congrès
The 8th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras - OMNIVIS, Oct 2008, Marseille, France. 2008
Liste complète des métadonnées

Littérature citée [18 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00325320
Contributeur : Peter Sturm <>
Soumis le : dimanche 28 septembre 2008 - 21:47:42
Dernière modification le : lundi 15 février 2016 - 15:34:05
Document(s) archivé(s) le : jeudi 3 juin 2010 - 19:54:11

Fichier

A9CR.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00325320, version 1

Collections

Citation

Jean-Charles Bazin, Inso Kweon, Cedric Demonceaux, Pascal Vasseur. Spherical Region-Based Matching of Vanishing Points in Catadioptric Images. The 8th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras - OMNIVIS, Oct 2008, Marseille, France. 2008. 〈inria-00325320〉

Partager

Métriques

Consultations de la notice

167

Téléchargements de fichiers

131