Kalman filtering: theory and practice
Kalman filtering: theory and practice
Adaptive filter theory (3rd ed.)
Adaptive filter theory (3rd ed.)
Canonical representations for the geometries of multiple projective views
Computer Vision and Image Understanding
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Geometric computing with Clifford algebras: theoretical foundations and applications in computer vision and robotics
The motor extended Kalman filter for dynamic rigid motion estimation from line observations
Geometric computing with Clifford algebras
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure and Motion from Line Segments in Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Constrained Structure and Motion From Multiple Uncalibrated Views of a Piecewise Planar Scene
International Journal of Computer Vision
Camera Self-Calibration: Theory and Experiments
ECCV '92 Proceedings of the Second European Conference on Computer Vision
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Surface Evolution and Representation using Geometric Algebra
Proceedings of the 9th IMA Conference on the Mathematics of Surfaces
Autocalibration and the absolute quadric
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Real Time Tracking and Modeling of Faces: An EKF-Based Analysis by Synthesis Approach
MPEOPLE '99 Proceedings of the IEEE International Workshop on Modelling People
Jacobian Images of Super-Resolved Texture Maps for Model-Based Motion Estimation and Tracking
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
A Unified Factorization Algorithm for Points, Line Segments and Planes with Uncertainty Models
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
The 3D Line Motion Matrix and Alignment of Line Reconstructions
International Journal of Computer Vision
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Rank Conditions on the Multiple-View Matrix
International Journal of Computer Vision
Pose Estimation in Conformal Geometric Algebra Part I: The Stratification of Mathematical Spaces
Journal of Mathematical Imaging and Vision
Hi-index | 0.00 |
In this article we propose a method for estimating the camera motion from a video-sequence acquired in the presence of general 3D structures. Solutions to this problem are commonly based on the tracking of point-like features, as they usually back-project onto viewpoint-invariant 3D features. In order to improve the robustness, the accuracy and the generality of the approach, we are interested in tracking and using a wider class of structures. In addition to points, in fact, we also simultaneously consider lines and planes. In order to be able to work on all such structures with a compact and unified formalism, we use here the Conformal Model of Geometric Algebra, which proved very powerful and flexible. As an example of application of our approach, we propose a causal algorithm based on an Extended Kalman Filter, for the estimation of 3D structure and motion from 2D observations of points, lines and coplanar features, and we evaluate its performance on both synthetic and real sequences.