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: Robots



Motivation: User Guidance



Agenda

Robust Pose

Online SaM SaM for GCM Online Robust

Experiments Feature Generation

Simulations

Real Sequenzes



Robust Pose



Robust Pose



Robust Pose



Robust Pose



Robust Pose



Robust Pose

4th order polynomial



Results



Results



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

v

c

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



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



House Sequence



House Sequence



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



Time Complexity

Frames

Poi

nts

Frames to optimizeaffected Points

classical algorithmsproposed algorithms

Documents

Online Structure and Motion for General Camera Models Gerald Schweighofer