{"title":"基于多面体结构两视角的结构和运动恢复的相机自动标定","authors":"Flavio Vigueras, Mario Santés, J. Hayet","doi":"10.1109/CERMA.2010.46","DOIUrl":null,"url":null,"abstract":"This work addresses the problems of (i) self-calibration of a moving camera observing a 3D scene composed by planar structures and (ii) scene segmentation and reconstruction. Although there exist some works intending to deal with these problems, most of them are based on the estimation of the epipolar geometry, non-linear optimization, or linear systems that do not incorporate geometrical consistency and may produce undesirable side-effects. In this paper, we propose a novel iterative linear algorithm that exploits the geometrical and algebraic constraints induced by rigidity and planarity in the scene. Instead of solving a complex multi-linear problem, we solve iteratively several linear problems: coplanar features segmentation, planar projective transferring, epipole computation, and all the plane intersections. Linear methods allow our approach to be suitable for real-time localization and 3D reconstruction, e.g. for autonomous mobile robots applications. Furthermore, we avoid the explicit epipolar geometry computation and all the stability problems commonly associated with it.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"107 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Automatic Camera Calibration with Structure and Motion Recovery from Two Views of a Polyhedral Structure\",\"authors\":\"Flavio Vigueras, Mario Santés, J. Hayet\",\"doi\":\"10.1109/CERMA.2010.46\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This work addresses the problems of (i) self-calibration of a moving camera observing a 3D scene composed by planar structures and (ii) scene segmentation and reconstruction. Although there exist some works intending to deal with these problems, most of them are based on the estimation of the epipolar geometry, non-linear optimization, or linear systems that do not incorporate geometrical consistency and may produce undesirable side-effects. In this paper, we propose a novel iterative linear algorithm that exploits the geometrical and algebraic constraints induced by rigidity and planarity in the scene. Instead of solving a complex multi-linear problem, we solve iteratively several linear problems: coplanar features segmentation, planar projective transferring, epipole computation, and all the plane intersections. Linear methods allow our approach to be suitable for real-time localization and 3D reconstruction, e.g. for autonomous mobile robots applications. Furthermore, we avoid the explicit epipolar geometry computation and all the stability problems commonly associated with it.\",\"PeriodicalId\":119218,\"journal\":{\"name\":\"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference\",\"volume\":\"107 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-09-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CERMA.2010.46\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CERMA.2010.46","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Automatic Camera Calibration with Structure and Motion Recovery from Two Views of a Polyhedral Structure
This work addresses the problems of (i) self-calibration of a moving camera observing a 3D scene composed by planar structures and (ii) scene segmentation and reconstruction. Although there exist some works intending to deal with these problems, most of them are based on the estimation of the epipolar geometry, non-linear optimization, or linear systems that do not incorporate geometrical consistency and may produce undesirable side-effects. In this paper, we propose a novel iterative linear algorithm that exploits the geometrical and algebraic constraints induced by rigidity and planarity in the scene. Instead of solving a complex multi-linear problem, we solve iteratively several linear problems: coplanar features segmentation, planar projective transferring, epipole computation, and all the plane intersections. Linear methods allow our approach to be suitable for real-time localization and 3D reconstruction, e.g. for autonomous mobile robots applications. Furthermore, we avoid the explicit epipolar geometry computation and all the stability problems commonly associated with it.