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Proceedings Paper

Ego-translation estimation from one straight edge in constructed scenes
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Paper Abstract

The task of recovering the camera motion relative to the environment (ego-motion estimation) is fundamental to many computer vision applications and this field has witnessed a wide range of approaches to this problem. Usual approaches are based on point or line correspondences, optical flow or the so-called direct methods. We present an algorithm for determining 3D motion and structure from one line correspondence between two perspective images. Classical methods which use supporting lines need at least three images. In this work, however, we show that only one supporting line correspondence belong to a planar surface in the space is enough to estimate the camera ego-translation provided the texture on the surface close to the line is enough discriminative. Only one line correspondence is enough and it is not necessary that two matched line segments contain the projection of a common part of the corresponding line segment in space. We first recover camera rotation by matching vanishing points based on the methods already exist in the literature and then recovering the camera translation. Experimental results on both synthetic and real images prove the functionality of the proposed method.

Paper Details

Date Published: 28 January 2010
PDF: 8 pages
Proc. SPIE 7538, Image Processing: Machine Vision Applications III, 75380P (28 January 2010); doi: 10.1117/12.839663
Show Author Affiliations
Saleh Mosaddegh, LE2I, CNRS, Univ. de Bourgogne (France)
David Fofi, LE2I, CNRS, Univ. de Bourgogne (France)
Pascal Vasseur, MIS, Univ. de Picardie Jules Verne (France)

Published in SPIE Proceedings Vol. 7538:
Image Processing: Machine Vision Applications III
David Fofi; Kurt S. Niel, Editor(s)

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