DocumentCode
2690380
Title
Tracking planes in omnidirectional stereovision
Author
Caron, Guillaume ; Marchand, Eric ; Mouaddib, El Mustapha
Author_Institution
MIS Lab., Univ. de Picardie Jules Verne, Amiens, France
fYear
2011
fDate
9-13 May 2011
Firstpage
6306
Lastpage
6311
Abstract
Omnidirectional cameras allow direct tracking and motion estimation of planar regions in images during a long period of time. However, using only one camera leads to plane and trajectory reconstruction up to a scale factor. We propose to develop dense plane tracking based on omnidirectional stereovision to answer this issue. The presented method estimates simultaneously the parameters of several 3D planes along with the camera motion in a spherical model formulation. Results show the efficiency of the approach.
Keywords
image sensors; motion estimation; object tracking; stereo image processing; camera motion; motion estimation; omnidirectional cameras; omnidirectional stereovision; planar regions; tracking estimation; tracking planes; trajectory reconstruction; Cameras; Equations; Jacobian matrices; Mirrors; Robot vision systems; Three dimensional displays; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979739
Filename
5979739
Link To Document