Share Email Print

Proceedings Paper

3D camera tracking from disparity images
Author(s): Kiyoung Kim; Woontack Woo
Format Member Price Non-Member Price
PDF $17.00 $21.00

Paper Abstract

In this paper, we propose a robust camera tracking method that uses disparity images computed from known parameters of 3D camera and multiple epipolar constraints. We assume that baselines between lenses in 3D camera and intrinsic parameters are known. The proposed method reduces camera motion uncertainty encountered during camera tracking. Specifically, we first obtain corresponding feature points between initial lenses using normalized correlation method. In conjunction with matching features, we get disparity images. When the camera moves, the corresponding feature points, obtained from each lens of 3D camera, are robustly tracked via Kanade-Lukas-Tomasi (KLT) tracking algorithm. Secondly, relative pose parameters of each lens are calculated via Essential matrices. Essential matrices are computed from Fundamental matrix calculated using normalized 8-point algorithm with RANSAC scheme. Then, we determine scale factor of translation matrix by d-motion. This is required because the camera motion obtained from Essential matrix is up to scale. Finally, we optimize camera motion using multiple epipolar constraints between lenses and d-motion constraints computed from disparity images. The proposed method can be widely adopted in Augmented Reality (AR) applications, 3D reconstruction using 3D camera, and fine surveillance systems which not only need depth information, but also camera motion parameters in real-time.

Paper Details

Date Published: 24 June 2005
PDF: 8 pages
Proc. SPIE 5960, Visual Communications and Image Processing 2005, 596042 (24 June 2005); doi: 10.1117/12.632741
Show Author Affiliations
Kiyoung Kim, GIST U-VR Lab. (South Korea)
Woontack Woo, GIST U-VR Lab. (South Korea)

Published in SPIE Proceedings Vol. 5960:
Visual Communications and Image Processing 2005
Shipeng Li; Fernando Pereira; Heung-Yeung Shum; Andrew G. Tescher, Editor(s)

© SPIE. Terms of Use
Back to Top
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?