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Affine Epipolar Direction from Two Views of a Planar Contour

  • Maria Alberich-Carramiñana
  • Guillem Alenyà
  • Juan Andrade-Cetto
  • Elisa Martínez
  • Carme Torras
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4179)

Abstract

Most approaches to camera motion estimation from image sequences require matching the projections of at least 4 non-coplanar points in the scene. The case of points lying on a plane has only recently been addressed, using mainly projective cameras. We here study what can be recovered from two uncalibrated views of a planar contour under affine viewing conditions. We prove that the affine epipolar direction can be recovered provided camera motion is free of cyclorotation. The proposed method consists of two steps: 1) computing the affinity between two views by tracking a planar contour, and 2) recovering the epipolar direction by solving a second-order equation on the affinity parameters. Two sets of experiments were performed to evaluate the accuracy of the method. First, synthetic image streams were used to assess the sensitivity of the method to controlled changes in viewing conditions and to image noise. Then, the method was tested under more realistic conditions by using a robot arm to obtain calibrated image streams, which permit comparing our results to ground truth.

Keywords

Active Contour Camera Motion Synthetic Image Camera Model Epipolar Line 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Maria Alberich-Carramiñana
    • 1
  • Guillem Alenyà
    • 2
  • Juan Andrade-Cetto
    • 3
  • Elisa Martínez
    • 4
  • Carme Torras
    • 2
  1. 1.Departament de Matemàtica Aplicada IBarcelona
  2. 2.Institut de Robòtica i Informàtica IndustrialBarcelona
  3. 3.Centre de Visió per Computador, UAB Edifici OBellaterraSpain
  4. 4.CiTS La Salle, Universitat Ramon Llull Pge.Barcelona

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