Computer graphics (2nd ed. in C): principles and practice
Computer graphics (2nd ed. in C): principles and practice
3D motion recovery via affine epipolar geometry
International Journal of Computer Vision
Object Pose: The Link between Weak Perspective,Paraperspective, and Full Perspective
International Journal of Computer Vision
Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
A Geometric Interpretation of Weak-Perspective Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Application of Lie Algebras to Visual Servoing
International Journal of Computer Vision - Special issue on image-based servoing
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
IEEE Transactions on Pattern Analysis and Machine Intelligence
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Fusing Visual and Inertial Sensing to Recover Robot Ego-motion
Journal of Robotic Systems
Two-View Geometry Estimation Unaffected by a Dominant Plane
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Affine Analysis of Image Sequences (Distinguished Dissertations in Computer Science)
Affine Analysis of Image Sequences (Distinguished Dissertations in Computer Science)
Affine epipolar direction from two views of a planar contour
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Camera motion estimation by tracking contour deformation: Precision analysis
Image and Vision Computing
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The mainstream approach to estimate epipolar geometry from two views requires matching the projections of at least four non-coplanar points in the scene, assuming a full projective camera model. Our work deviates from this in three respects: affine camera, planar scene and active contour tracking. A B-spline is fitted to a planar contour, which is tracked using a Kalman filter. The corresponding control points are used to compute the affine transformation between images. We prove that the affine epipolar direction can be computed as one of the eigenvectors of this affine transformation, provided camera motion is free of cyclorotation. A Staubli robot is used to obtain calibrated image streams, which are used as ground truth to evaluate the performance of the method, and to test its limiting conditions in practice. The fact that our method and the gold standard algorithm produce comparable results shows the potential of our proposal.