Translator Disclaimer
28 January 2010 Ego-translation estimation from one straight edge in constructed scenes
Author Affiliations +
Proceedings Volume 7538, Image Processing: Machine Vision Applications III; 75380P (2010)
Event: IS&T/SPIE Electronic Imaging, 2010, San Jose, California, United States
The task of recovering the camera motion relative to the environment (ego-motion estimation) is fundamental to many computer vision applications and this field has witnessed a wide range of approaches to this problem. Usual approaches are based on point or line correspondences, optical flow or the so-called direct methods. We present an algorithm for determining 3D motion and structure from one line correspondence between two perspective images. Classical methods which use supporting lines need at least three images. In this work, however, we show that only one supporting line correspondence belong to a planar surface in the space is enough to estimate the camera ego-translation provided the texture on the surface close to the line is enough discriminative. Only one line correspondence is enough and it is not necessary that two matched line segments contain the projection of a common part of the corresponding line segment in space. We first recover camera rotation by matching vanishing points based on the methods already exist in the literature and then recovering the camera translation. Experimental results on both synthetic and real images prove the functionality of the proposed method.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Saleh Mosaddegh, David Fofi, and Pascal Vasseur "Ego-translation estimation from one straight edge in constructed scenes", Proc. SPIE 7538, Image Processing: Machine Vision Applications III, 75380P (28 January 2010);


Optical flow based velocity estimation for mobile robots
Proceedings of SPIE (February 14 2015)
Nonreconstruction approach for road following
Proceedings of SPIE (March 01 1992)
From belt picking to bin packing
Proceedings of SPIE (October 18 2002)

Back to Top