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Planar Motion Estimation Using an Uncalibrated General Camera

Abstract : Generic camera odometry can be performed using two images of the same plane, such as the ground plane even in the case of non central cameras. It is possible to recover both the angle and rotation center describing a generic planar motion on the ground plane if the center is visible in both images. We present an algorithm to recover these two parameters from an initial set of correspondences and, furthermore, to estimate the motion flow related to any point on the ground plane. In this situation the motion flows are given by a set of “concentric” closed curves around the rotation center. By considering two subsequent ground plane motions and their related motion flows, we show that it is possible to perform a rectification of the plane up to a scale factor. We provide experimental results which validate our approach.
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https://hal.inria.fr/inria-00325395
Contributor : Peter Sturm <>
Submitted on : Monday, September 29, 2008 - 11:02:20 AM
Last modification on : Tuesday, August 13, 2019 - 11:10:03 AM
Long-term archiving on: : Thursday, June 3, 2010 - 10:07:22 PM

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Vincenzo Caglioti, Pierluigi Taddei. Planar Motion Estimation Using an Uncalibrated General Camera. The 8th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras - OMNIVIS, Rahul Swaminathan and Vincenzo Caglioti and Antonis Argyros, Oct 2008, Marseille, France. ⟨inria-00325395⟩

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