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Authors: Marcus Valtonen Örnhag 1 and Mårten Wadenbäck 2

Affiliations: 1 Centre for Mathematical Sciences, Lund University, Lund and Sweden ; 2 Department of Mathematical Sciences, Chalmers University of Technology and the University of Gothenburg, Gothenburg and Sweden

Keyword(s): Planar Motion, Bundle Adjustment.

Related Ontology Subjects/Areas/Topics: Applications ; Pattern Recognition ; Robotics ; Software Engineering

Abstract: In this paper we consider trajectory recovery for two cameras directed towards the floor, and which are mounted rigidly on a mobile platform. Previous work for this specific problem geometry has focused on locally minimising an algebraic error between inter-image homographies to estimate the relative pose. In order to accurately track the platform globally it is necessary to refine the estimation of the camera poses and 3D locations of the feature points, which is commonly done by utilising bundle adjustment; however, existing software packages providing such methods do not take the specific problem geometry into account, and the result is a physically inconsistent solution. We develop a bundle adjustment algorithm which incorporates the planar motion constraint, and devise a scheme that utilises the sparse structure of the problem. Experiments are carried out on real data and the proposed algorithm shows an improvement compared to established generic methods.

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Paper citation in several formats:
Örnhag, M. and Wadenbäck, M. (2019). Planar Motion Bundle Adjustment. In Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - ICPRAM; ISBN 978-989-758-351-3; ISSN 2184-4313, SciTePress, pages 24-31. DOI: 10.5220/0007247700240031

@conference{icpram19,
author={Marcus Valtonen Örnhag. and Mårten Wadenbäck.},
title={Planar Motion Bundle Adjustment},
booktitle={Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - ICPRAM},
year={2019},
pages={24-31},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007247700240031},
isbn={978-989-758-351-3},
issn={2184-4313},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Pattern Recognition Applications and Methods - ICPRAM
TI - Planar Motion Bundle Adjustment
SN - 978-989-758-351-3
IS - 2184-4313
AU - Örnhag, M.
AU - Wadenbäck, M.
PY - 2019
SP - 24
EP - 31
DO - 10.5220/0007247700240031
PB - SciTePress

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