Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies

Marcus Valtonen Örnhag, Anders Heyden

Abstract

In this paper we consider a mobile platform with two cameras directed towards the floor mounted the same distance from the ground, assuming planar motion and constant internal parameters. Earlier work related to this specific problem geometry has been carried out for monocular systems, and the main contribution of this paper is the generalization to a binocular system and the recovery of the relative translation and orientation between the cameras. The method is based on previous work on monocular systems, using sequences of inter-image homographies. Experiments are conducted using synthetic data, and the results demonstrate a robust method for determining the relative parameters.

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Paper Citation


in Harvard Style

Örnhag M. and Heyden A. (2018). Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies.In Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-276-9, pages 568-575. DOI: 10.5220/0006695305680575


in Bibtex Style

@conference{icpram18,
author={Marcus Valtonen Örnhag and Anders Heyden},
title={Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies},
booktitle={Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2018},
pages={568-575},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006695305680575},
isbn={978-989-758-276-9},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Relative Pose Estimation in Binocular Vision for a Planar Scene using Inter-Image Homographies
SN - 978-989-758-276-9
AU - Örnhag M.
AU - Heyden A.
PY - 2018
SP - 568
EP - 575
DO - 10.5220/0006695305680575