Affine epipolar direction from two views of a planar contour

Maria Alberich-Carramiñana, Guillem Alenyà, Juan Andrade-Cetto, Elisa Martínez, Carme Torras

Research output: A Conference proceeding or a Chapter in BookConference contribution

1 Citation (Scopus)

Abstract

Most approaches to camera motion estimation from image sequences require matching the projections of at least 4 non-coplanar points in the scene. The case of points lying on a plane has only recently been addressed, using mainly projective cameras. We here study what can be recovered from two uncalibrated views of a planar contour under affine viewing conditions. We prove that the affine epipolar direction can be recovered provided camera motion is free of cyclorotation. The proposed method consists of two steps: 1) computing the affinity between two views by tracking a planar contour, and 2) recovering the epipolar direction by solving a second-order equation on the affinity parameters. Two sets of experiments were performed to evaluate the accuracy of the method. First, synthetic image streams were used to assess the sensitivity of the method to controlled changes in viewing conditions and to image noise. Then, the method was tested under more realistic conditions by using a robot arm to obtain calibrated image streams, which permit comparing our results to ground truth.

Original languageEnglish
Title of host publicationAdvanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings
Subtitle of host publicationLecture Notes in Computer Science
EditorsJ. Blanc-Talon, W. Philips, D. Popescu, P. Scheunders
PublisherSpringer Verlag
Pages944-955
Number of pages12
Volume4179
ISBN (Electronic)9783540446323
ISBN (Print)9783540446309
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event8th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2006 - Antwerp, Belgium
Duration: 18 Sep 200621 Sep 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4179 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2006
CountryBelgium
CityAntwerp
Period18/09/0621/09/06

Fingerprint

Cameras
Camera
Affine transformation
Motion estimation
Motion Estimation
Second Order Equations
Image Sequence
Robots
Robot
Projection
Motion
Computing
Evaluate
Experiments
Experiment

Cite this

Alberich-Carramiñana, M., Alenyà, G., Andrade-Cetto, J., Martínez, E., & Torras, C. (2006). Affine epipolar direction from two views of a planar contour. In J. Blanc-Talon, W. Philips, D. Popescu, & P. Scheunders (Eds.), Advanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings: Lecture Notes in Computer Science (Vol. 4179, pp. 944-955). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4179 LNCS). Springer Verlag. https://doi.org/10.1007/11864349_86
Alberich-Carramiñana, Maria ; Alenyà, Guillem ; Andrade-Cetto, Juan ; Martínez, Elisa ; Torras, Carme. / Affine epipolar direction from two views of a planar contour. Advanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings: Lecture Notes in Computer Science. editor / J. Blanc-Talon ; W. Philips ; D. Popescu ; P. Scheunders. Vol. 4179 Springer Verlag, 2006. pp. 944-955 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Alberich-Carramiñana, M, Alenyà, G, Andrade-Cetto, J, Martínez, E & Torras, C 2006, Affine epipolar direction from two views of a planar contour. in J Blanc-Talon, W Philips, D Popescu & P Scheunders (eds), Advanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings: Lecture Notes in Computer Science. vol. 4179, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4179 LNCS, Springer Verlag, pp. 944-955, 8th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2006, Antwerp, Belgium, 18/09/06. https://doi.org/10.1007/11864349_86

Affine epipolar direction from two views of a planar contour. / Alberich-Carramiñana, Maria; Alenyà, Guillem; Andrade-Cetto, Juan; Martínez, Elisa; Torras, Carme.

Advanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings: Lecture Notes in Computer Science. ed. / J. Blanc-Talon; W. Philips; D. Popescu; P. Scheunders. Vol. 4179 Springer Verlag, 2006. p. 944-955 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4179 LNCS).

Research output: A Conference proceeding or a Chapter in BookConference contribution

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AU - Alenyà, Guillem

AU - Andrade-Cetto, Juan

AU - Martínez, Elisa

AU - Torras, Carme

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A2 - Scheunders, P.

PB - Springer Verlag

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Alberich-Carramiñana M, Alenyà G, Andrade-Cetto J, Martínez E, Torras C. Affine epipolar direction from two views of a planar contour. In Blanc-Talon J, Philips W, Popescu D, Scheunders P, editors, Advanced Concepts for Intelligent Vision Systems - 8th International Conference, ACIVS 2006, Proceedings: Lecture Notes in Computer Science. Vol. 4179. Springer Verlag. 2006. p. 944-955. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/11864349_86