Title :
Visual tracking of planes with an uncalibrated central catadioptric camera
Author :
Salazar-Garibay, A. ; Malis, E. ; Mei, C.
Author_Institution :
INRIA Sophia-Antipolis, Sophia-Antipolis, France
Abstract :
This paper addresses the problem of tracking a planar region of the scene using an uncalibrated omnidirectional camera. Omnidirectional cameras are a popular choice of visual sensors in robotics because the large field of view is well adapted to motion estimation and obstacle avoidance. The novelty of this work resides in simplifying the calibration phase by providing a direct approach to tracking without any prior knowledge of the camera, lens or mirror parameters. We deal with a nonlinear optimization problem that can be solved for small displacements between two images like those acquired at video rate by a camera mounted on a robot. In order to assess the performance of the proposed method, we perform experiments with synthetic and real data.
Keywords :
cameras; collision avoidance; image sensors; motion estimation; nonlinear programming; optical tracking; robot vision; motion estimation; nonlinear optimization; obstacle avoidance; planar region tracking; robotics; uncalibrated central catadioptric camera; uncalibrated omnidirectional camera; visual sensor; visual tracking; Calibration; Intelligent robots; Layout; Lenses; Mirrors; Motion estimation; Robot kinematics; Robot vision systems; Smart cameras; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354470