Structure and Motion

pancakesbootΤεχνίτη Νοημοσύνη και Ρομποτική

24 Νοε 2013 (πριν από 3 χρόνια και 8 μήνες)

53 εμφανίσεις


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


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Motivation: Robots


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Motivation: Robots


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Motivation: User Guidance


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Agenda


Robust Pose



Online SaM


SaM for GCM


Online


Robust


Experiments


Feature Generation


Simulations


Real Sequenzes


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robust Pose

4th order polynomial


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Results


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Results


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Results


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

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



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

General Camera Model


Measurements are rays of light (c,v)


c ... a point


v ... a vector

Camera

v

c


An example


Stereo Setup






Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Object Space Cost for GCM


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Structure & Motion


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Closed form Solution for Structure


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Closed form Solution for Camera
translation


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Iterative Rotation estimation


Solve one iteration using SVD or quaternions


Results in a globally convergent algorithm.

closed form structure closed form translation


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Convergence


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Online/Realtime SaM


Assumption: old Frames stay constant.

pre
-
calculate


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Online/Realtime SaM


Assumption: old Frames stay constant.

pre
-
calculate


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robustness


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Robustness


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Experiments


Simulation



Natural Landmarks


Artificial Landmarks



House Sequence


Bridging Marker less Environment


Laboratory Sequence



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Simulation

Object: Cylinder

70 random points

diameter: 1 meter

height: 1 meter


Motion: Circle

diameter: 6 meter

100 frames / every 3.6
°


0.5 Pixel Gaussian noise



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Simulation

10 ms := 100 Frames / sec



for SaM


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Simulation


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Artficial Landmarks



ARToolKit Marker


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Natural Landmark Tracking


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

House Sequence


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

House Sequence


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

House Sequence


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

House Sequence


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Bridging Marker less Environments


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Automatic Generation of Scene
Description


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Automatic Generation of Scene
Description



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Automatic Generation of Scene
Description

standard deviation: 0.48 %


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Conclusion


Robust Pose



Structure and Motion for GCM


General Camera Model


Online Algorithm


Robust to Outliers



Experiments



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Publications

Institute of Electrical Measurement and Measurement Signal Processing


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing



Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Natural Landmark Tracking


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Simulation


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Time Complexity


Gerald Schweighofer

RIGOROSUM 03.07.2008


Online SaM for GCM

Institute of Electrical Measurement and Measurement Signal Processing

Time Complexity

Frames

Points

Frames to optimize

affected Points

classical algorithms

proposed algorithms