Authors:
Akihiko Torii
and
Tomáš Pajdla
Affiliation:
Faculty of Elec. Eng., Czech Technical University in Prague, Czech Republic
Keyword(s):
Camera Motion Estimation, Omnidirectional Images, Epipolar Geometry.
Related
Ontology
Subjects/Areas/Topics:
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Stereo Vision and Structure from Motion
Abstract:
We present an automatic technique for computing relative camera motion and simultaneous omnidirectional image matching. Our technique works for small as well as large motions, tolerates multiple moving objects and very large occlusions in the scene. We combine three principles and obtain a practical algorithm which improves the state of the art. First, we show that the correct motion is found much sooner if the tentative matches are sampled after ordering them by the similarity of their descriptors. Secondly, we show that the correct camera motion can be better found by soft voting for the direction of the motion than by selecting the motion that is supported by the largest set of matches. Finally, we show that it is useful to filter out the epipolar geometries which are not generated by points reconstructed in front of cameras. We demonstrate the performance of the technique in an experiment with 189 image pairs acquired in a city and in a park. All camera motions were recovered wit
h the error of the motion direction smaller than 8◦, which is 4 % of the 183◦ field of view, w.r.t. the ground truth.
(More)