Title :
A step towards self-calibration in SLAM: Weakly calibrated on-line structure and motion estimation
Author :
Haner, Sebastian ; Heyden, Anders
Author_Institution :
Centre for Math. Sci., Lund Univ., Lund, Sweden
Abstract :
We propose a structure and motion estimation scheme based on a dynamic systems approach, where states and parameters in a perspective system are estimated. An online method for structure and motion estimation in densely sampled image sequences is presented. The proposed method is based on an extended Kalman filter and a novel parametrization. We derive a dynamic system describing the motion of the camera and the image formation. By a change of coordinates, we represent this system by normalized image coordinates and the inverse depths. Then we apply an extended Kalman filter for estimation of both structure and motion. Furthermore, we assume only weakly calibrated cameras, i.e. cameras with unknown and possibly varying focal length, unknown and constant principal point and known aspect ratio and skew. The performance of the proposed method is demonstrated in both simulated and real experiments. We also compare our method to the one proposed by Civera et al. and show that we get superior results.
Keywords :
Kalman filters; SLAM (robots); calibration; cameras; image sequences; motion estimation; nonlinear estimation; SLAM; extended Kalman filter; focal length variation; image formation; image sequence; motion estimation; self calibration; weakly calibrated camera; Cameras; Computational complexity; Computational modeling; Image sequences; Iterative methods; Mobile computing; Motion estimation; Nonlinear dynamical systems; Simultaneous localization and mapping; State estimation;
Conference_Titel :
Computer Vision and Pattern Recognition Workshops (CVPRW), 2010 IEEE Computer Society Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4244-7029-7
DOI :
10.1109/CVPRW.2010.5543256