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The Multi-view Geometry of Parallel Cylinders

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Image Analysis (SCIA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13886))

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Abstract

In this paper we study structure from motion problems for parallel cylinders. Using sparse keypoint correspondences is an efficient (and standard) way to solve the structure from motion problem. However, point features are sometimes unavailable and they can be unstable over time and viewing conditions. Instead, we propose a framework based on silhouettes of quadric surfaces, with special emphasis on parallel cylinders. Such structures are quite common, e.g. trees, lampposts, pillars, and furniture legs. Traditionally, the projection of the center lines of such cylinders have been considered and used in computer vision. Here, we demonstrate that the apparent width of the cylinders also contains useful information for structure and motion estimation. We provide mathematical analysis of relative structure and relative motion tensors, which is used to develop a number of minimal solvers for simultaneously estimating camera pose and scene structure from silhouette lines of cylinders. These solvers can be used efficiently in robust estimation schemes, such as RANSAC. We use Sampson-approximation methods for efficient estimation using over-determined data and develop averaging techniques. We also perform synthetic accuracy and robustness tests and evaluate our methods on a number of real-world scenarios.

This work was supported by the ADACORSA project with funding from ECSEL JU in the H2020 Framework Programme (H2020/2014-2020) and National Authorities, under GA 876019, the strategic research projects ELLIIT, the Swedish Foundation for Strategic Research project, Semantic Mapping and Visual Navigation for Smart Robots (grant no. RIT15-0038) and by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation.

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Authors and Affiliations

  1. Centre for Mathematical Sciences, Lund University, Lund, Sweden

    Erik Tegler, Johanna Engman, David Gillsjö, Gabrielle Flood, Viktor Larsson, Magnus Oskarsson & Karl Åström

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  1. Erik Tegler
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  2. Johanna Engman
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  3. David Gillsjö
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  6. Magnus Oskarsson
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  7. Karl Åström
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Correspondence to Erik Tegler .

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Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Rikke Gade

  2. Linköping University, Linköping, Sweden

    Michael Felsberg

  3. Tampere University, Tampere, Finland

    Joni-Kristian Kämäräinen

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Tegler, E. et al. (2023). The Multi-view Geometry of Parallel Cylinders. In: Gade, R., Felsberg, M., Kämäräinen, JK. (eds) Image Analysis. SCIA 2023. Lecture Notes in Computer Science, vol 13886. Springer, Cham. https://doi.org/10.1007/978-3-031-31438-4_32

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  • DOI: https://doi.org/10.1007/978-3-031-31438-4_32

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