Three-dimensional motion computation and object segmentation in a long sequence of stereo frames
International Journal of Computer Vision
Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
Threading Fundamental Matrices
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
On the geometry and algebra of the point and line correspondences between N images
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Matching constraints and the joint image
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
SMBV '01 Proceedings of the IEEE Workshop on Stereo and Multi-Baseline Vision (SMBV'01)
Shape and the Stereo Correspondence Problem
International Journal of Computer Vision
Real-Time Markerless Tracking for Augmented Reality: The Virtual Visual Servoing Framework
IEEE Transactions on Visualization and Computer Graphics
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
What can be done with an embedded stereo-rig in urban environments?
Robotics and Autonomous Systems
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
IJCAI'83 Proceedings of the Eighth international joint conference on Artificial intelligence - Volume 2
Statistically robust 2-D visual servoing
IEEE Transactions on Robotics
An Efficient Direct Approach to Visual SLAM
IEEE Transactions on Robotics
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping
IEEE Transactions on Robotics
Real-time dense stereo for intelligent vehicles
IEEE Transactions on Intelligent Transportation Systems
Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration
International Journal of Robotics Research
Statistical modeling of long-range drift in visual odometry
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Improving NCC-based direct visual tracking
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Direct model based visual tracking and pose estimation using mutual information
Image and Vision Computing
Machine Vision and Applications
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In this paper we describe a new image-based approach to tracking the six-degree-of-freedom trajectory of a stereo camera pair. The proposed technique estimates the pose and subsequently the dense pixel matching between temporal image pairs in a sequence by performing dense spatial matching between images of a stereo reference pair. In this way a minimization approach is employed which directly uses all grayscale information available within the stereo pair (or stereo region) leading to very robust and precise results. Metric 3D structure constraints are imposed by consistently warping corresponding stereo images to generate novel viewpoints at each stereo acquisition. An iterative non-linear trajectory estimation approach is formulated based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. A robust M-estimation technique is used to reject outliers corresponding to moving objects within the scene or other outliers such as occlusions and illumination changes. The technique is applied to recovering the trajectory of a moving vehicle in long and difficult sequences of images.