Abstract
A structure from motion algorithm is described which recovers structure and camera position, modulo a projective ambiguity. Camera calibration is not required, and camera parameters such as focal length can be altered freely during motion. Unlike recent schemes which compute projective or affine structure using a batch process, the structure is updated sequentially over an image sequence. A specialisation of the algorithm to recover structure modulo an affine transformation is described. We demonstrate how the affine coordinate frame can be periodically updated to prevent drift over time.
Structure is recovered from image corners detected and matched automatically and reliably in image sequences. Results are shown for reference objects and indoor environments. Finally, the affine structure is used to construct free space maps enabling navigation through unstructured environments and avoidance of obstacles. The path planning involves only affine constructions. Examples are provided for real image sequences.
This work was supported by SERC Grant No GR/H77668 and Esprit BRA VIVA. Thanks for helpful discussions with Richard Hartley, Jitendra Malik, John Mayhew, Joe Mundy, and to colleagues in the Robotics Research Group, particularly Andrew Blake, Mike Brady, Phil McLauchlan, Ian Reid, Larry Shapiro, and Phil Torr.
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© 1994 Springer-Verlag Berlin Heidelberg
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Beardsley, P.A., Zisserman, A., Murray, D.W. (1994). Navigation using affine structure from motion. In: Eklundh, JO. (eds) Computer Vision — ECCV '94. ECCV 1994. Lecture Notes in Computer Science, vol 801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0028337
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DOI: https://doi.org/10.1007/BFb0028337
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