Supporting Structure from Motion with a 3D-Range-Camera

  • Birger Streckel
  • Bogumil Bartczak
  • Reinhard Koch
  • Andreas Kolb
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4522)

Abstract

Tracking of a camera pose in all 6 degrees of freedom is a task with many applications in 3D-imaging as i.e. augmentation or robot navigation. Structure from motion is a well known approach for this task, with several well known restrictions. These are namely the scale ambiguity of the calculated relative pose and the need of a certain camera movement (preferably lateral) to initiate the tracking.

In the last few years time-of-flight imaging sensors were developed that allow the measuring of metric depth over a whole region with a frame rate similar to a standard CCD-camera.

In this work a camera rig consisting of a standard 2D CCD camera and a time-of-flight 3D camera is used. Structure from motion is calculated on the 2D image, aided by the depth measurement from the time-of-flight camera to overcome the restrictions named above. It is shown how the additional 3D-information can be used to improve the accuracy of the camera pose estimation.

Keywords

Depth Image Forward Movement Robot Navigation Rotation Error Structure From Motion 
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 Berlin Heidelberg 2007

Authors and Affiliations

  • Birger Streckel
    • 1
  • Bogumil Bartczak
    • 1
  • Reinhard Koch
    • 1
  • Andreas Kolb
    • 2
  1. 1.Institute of Computer Science, Christian-Albrechts-University of Kiel, 24098 KielGermany
  2. 2.Computer Graphics Group, University of Siegen, 57068 SiegenGermany

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