Performance of optical flow techniques
International Journal of Computer Vision
Guided Sampling and Consensus for Motion Estimation
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Preemptive RANSAC for live structure and motion estimation
Machine Vision and Applications
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
A Database and Evaluation Methodology for Optical Flow
International Journal of Computer Vision
| Hi-index | 0.00 |
This paper describes a system for structure-and-motion estimation for real-time navigation and obstacle avoidance. We demonstrate a technique to increase the efficiency of the 5-point solution to the relative pose problem. This is achieved by a novel sampling scheme, where we add a distance constraint on the sampled points inside the RANSAC loop, before calculating the 5-point solution. Our setup uses the KLT tracker to establish point correspondences across time in live video. We also demonstrate how an early outlier rejection in the tracker improves performance in scenes with plenty of occlusions. This outlier rejection scheme is well suited to implementation on graphics hardware. We evaluate the proposed algorithms using real camera sequences with fine-tuned bundle adjusted data as ground truth. To strenghten our results we also evaluate using sequences generated by a state-of-the-art rendering software. On average we are able to reduce the number of RANSAC iterations by half and thereby double the speed.