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Comparison of Point and Line Features and Their Combination for Rigid Body Motion Estimation

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Statistical and Geometrical Approaches to Visual Motion Analysis

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5604))

Abstract

This paper discusses the usage of different image features and their combination in the context of estimating the motion of rigid bodies (RBM estimation). From stereo image sequences, we extract line features at local edges (coded in so called multi-modal primitives) as well as point features (by means of SIFT descriptors). All features are then matched across stereo and time, and we use these correspondences to estimate the RBM by solving the 3D-2D pose estimation problem. We test different feature sets on various stereo image sequences, recorded in realistic outdoor and indoor scenes. We evaluate and compare the results using line and point features as 3D-2D constraints and we discuss the qualitative advantages and disadvantages of both feature types for RBM estimation. We also demonstrate an improvement in robustness through the combination of these features on large data sets in the driver assistance and robotics domain. In particular, we report total failures of motion estimation based on only one type of feature on relevant data sets.

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Author information

Authors and Affiliations

  1. Department of Medialogy and Engineering Science, Aalborg University Copenhagen, Denmark

    Florian Pilz

  2. School of Informatics, University of Edinburgh, United Kingdom

    Nicolas Pugeault

  3. The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

    Nicolas Pugeault & Norbert Krüger

Authors
  1. Florian Pilz
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  2. Nicolas Pugeault
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  3. Norbert Krüger
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Editor information

Editors and Affiliations

  1. Institut für Informatik III, Universität Bonn, Römerstraße 164, 53117, Bonn, Germany

    Daniel Cremers  & Frank R. Schmidt  & 

  2. Institut für Informationsverarbeitung, Leibniz Universität Hannover, Appelstraße 9A, 30167, Hannover, Germany

    Bodo Rosenhahn

  3. Department of Statistics and Psychology, University of California - Los Angeles, 8967 Math Sciences Building, 90095-1554, Los Angeles, CA, USA

    Alan L. Yuille

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Pilz, F., Pugeault, N., Krüger, N. (2009). Comparison of Point and Line Features and Their Combination for Rigid Body Motion Estimation. In: Cremers, D., Rosenhahn, B., Yuille, A.L., Schmidt, F.R. (eds) Statistical and Geometrical Approaches to Visual Motion Analysis. Lecture Notes in Computer Science, vol 5604. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03061-1_14

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  • DOI: https://doi.org/10.1007/978-3-642-03061-1_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03060-4

  • Online ISBN: 978-3-642-03061-1

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