Online Structure and Motion for General Camera Models Gerald Schweighofer

Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Online Structure and Motion

for General Camera Models

Gerald Schweighofer

Motivation: Robots

Motivation: User Guidance

Agenda

Robust Pose

Online SaM SaM for GCM Online Robust

Experiments Feature Generation

Simulations

Real Sequenzes

Robust Pose

4th order polynomial

Results

Online SaM for GCM

General Camera Model Object space cost

Globally Convergent SaM SaM as an optimization problem closed form solutions for structure and camera position Proven convergence

Online/Realtime SaM constant amount of CPU time / frame

Robustness

General Camera Model Measurements are rays of light (c,v)

c ... a point v ... a vector

Camera

An example Stereo Setup

Object Space Cost for GCM

Structure & Motion

Closed form Solution for Structure

Closed form Solution for Camera translation

Iterative Rotation estimation

Solve one iteration using SVD or quaternions Results in a globally convergent algorithm.

closed form structure closed form translation

Convergence

Online/Realtime SaM Assumption: old Frames stay constant.

pre-calculate

Online/Realtime SaMAssumption: old Frames stay constant.

pre-calculate

Robustness

Experiments Simulation

Natural Landmarks

Artificial Landmarks

House Sequence

Bridging Marker less Environment

Laboratory Sequence

Simulation

Object: Cylinder70 random points

diameter: 1 meter

height: 1 meter

Motion: Circlediameter: 6 meter

100 frames / every 3.6°

0.5 Pixel Gaussian noise

Simulation

10 ms := 100 Frames / sec10 ms := 100 Frames / sec

for SaMfor SaM

Simulation

Artficial Landmarks

ARToolKit Marker

Natural Landmark Tracking

House Sequence

Bridging Marker less Environments

Automatic Generation of Scene Description

standard deviation: 0.48 %

Conclusion

Robust Pose

Structure and Motion for GCM General Camera Model Online Algorithm Robust to Outliers

Experiments

Publications

Natural Landmark Tracking

Simulation

Time Complexity

Frames

Frames to optimizeaffected Points

classical algorithmsproposed algorithms

Online Structure and Motion for General Camera Models Gerald Schweighofer

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