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
Enter the password to open this PDF file:
File name:
-
File size:
-
Title:
-
Author:
-
Subject:
-
Keywords:
-
Creation Date:
-
Modification Date:
-
Creator:
-
PDF Producer:
-
PDF Version:
-
Page Count:
-
Preparing document for printing…
0%
Comments 0
Log in to post a comment