Authors:
Mårten Wadenbäck
and
Anders Heyden
Affiliation:
Lund University, Sweden
Keyword(s):
Visual Navigation, Planar Motion, SLAM, Homography, Tilted Camera.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Image and Video Analysis
;
Image Registration
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
;
Tracking and Visual Navigation
Abstract:
In this paper we consider a mobile platform performing partial hand-eye calibration and Simultaneous Localisation
and Mapping (SLAM) using images of the floor along with the assumptions of planar motion and
constant internal camera parameters. The method used is based on a direct parametrisation of the camera
motion, combined with an iterative scheme for determining the motion parameters from inter-image homographies.
Experiments are carried out on both real and synthetic data. For the real data, the estimates obtained
are compared to measurements by an industrial robot, which serve as ground truth. The results demonstrate
that our method produces consistent estimates of the camera position and orientation. We also make some
remarks about patterns of motion for which the method fails.