Download presentation
Presentation is loading. Please wait.
Published byAmos Ward Modified over 9 years ago
1
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online Structure and Motion for General Camera Models Gerald Schweighofer
2
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Motivation: Robots
3
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Motivation: Robots
4
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Motivation: User Guidance
5
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Agenda Robust Pose Online SaM SaM for GCM Online Robust Experiments Feature Generation Simulations Real Sequenzes
6
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose
7
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose
8
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose
9
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose
10
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose
11
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robust Pose 4th order polynomial
12
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Results
13
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Results
14
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Results
15
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online SaM for GCM General Camera Model Object space cost Globally Convergent SaM SaM as an optimization problem closed form solutions for structure and camera position Proven convergence Online/Realtime SaM constant amount of CPU time / frame Robustness
16
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing General Camera Model Measurements are rays of light (c,v) c... a point v... a vector Camera v c An example Stereo Setup
17
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Object Space Cost for GCM
18
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Structure & Motion
19
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Closed form Solution for Structure
20
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Closed form Solution for Camera translation
21
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Iterative Rotation estimation Solve one iteration using SVD or quaternions Results in a globally convergent algorithm. closed form structure closed form translation
22
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Convergence
23
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online/Realtime SaM Assumption: old Frames stay constant. pre-calculate
24
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online/Realtime SaM Assumption: old Frames stay constant. pre-calculate
25
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robustness
26
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Robustness
27
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Experiments Simulation Natural Landmarks Artificial Landmarks House Sequence Bridging Marker less Environment Laboratory Sequence
28
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Simulation Object: Cylinder 70 random points diameter: 1 meter height: 1 meter Motion: Circle diameter: 6 meter 100 frames / every 3.6° 0.5 Pixel Gaussian noise
29
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Simulation 10 ms := 100 Frames / sec for SaM
30
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Simulation
31
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Artficial Landmarks ARToolKit Marker
32
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Natural Landmark Tracking
33
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing House Sequence
34
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing House Sequence
35
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing House Sequence
36
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing House Sequence
37
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Bridging Marker less Environments
38
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Automatic Generation of Scene Description
39
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Automatic Generation of Scene Description
40
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Automatic Generation of Scene Description standard deviation: 0.48 %
41
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Conclusion Robust Pose Structure and Motion for GCM General Camera Model Online Algorithm Robust to Outliers Experiments
42
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Publications Institute of Electrical Measurement and Measurement Signal Processing Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM
43
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing
44
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing
45
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Natural Landmark Tracking
46
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Simulation
47
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Time Complexity
48
Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Time Complexity Frames Points Frames to optimize affected Points classical algorithms proposed algorithms
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.