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Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online Structure and.

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Presentation on theme: "Gerald Schweighofer RIGOROSUM 03.07.2008 Online SaM for GCM Institute of Electrical Measurement and Measurement Signal Processing Online Structure and."— Presentation transcript:

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


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