Skip to main content
SpringerLink
Log in

Vanishing points and three-dimensional lines from omni-directional video

  • Special issue on computational video
  • Published:
The Visual Computer Aims and scope Submit manuscript

Abstract

This paper describes a system for structure from motion using vanishing points and three-dimensional lines extracted from omni-directional video sequences. To track lines, we use a novel dynamic programming approach to improve ambiguity resolution, and we use delayed states to aid in the initialization of landmarks. By reobserving vanishing points we get direct measurements of the robot’s three-dimensional attitude that are independent of its position. Using vanishing points simplifies the representation since parallel lines share the same direction states. We show the performance of the system in various indoor and outdoor environments and include comparisons with independent two-dimensional reference maps for each experiment .

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Antone M, Teller S (2000) Automatic recovery of relative camera rotations for urban scenes. In: International Conference on Computer Vision and Pattern Recognition, Vol II, pp 282–289

  2. Antone ME (2001) Robust camera pose recovery using stochastic geometry. PhD thesis, Massachusetts Institute of Technology

  3. Bar-Shalom Y, Fortmann TE (1988) Tracking and data association. Academic Press Limited, San Diego, CA, 1988

  4. Bosse MC, Newman PM, Leonard JJ, Soika M, Feiten W, Teller S (2003) An atlas framework for scalable mapping. Proc. IEEE Int Conf Robot Autom (Forthcoming)

  5. Castellanos JA, Montiel JMM, Neira J, Tardos JD (1999) The SPmap: a probabilistic framework for simultaneous localization and map building. IEEE Trans Robot Autom 15(5):948–952

    Article  Google Scholar 

  6. Chiuso A, Favaro P, Jin H, Soatto S (2002) Structure from motion causally integrated over time. IEEE Trans Patt Anal Machine Intel 24(4):523–535

    Article  Google Scholar 

  7. Cormen T, Leiserson C, Rivest R (2001) Introduction to algorithms. MIT Press; http://www.amazon.com/exec/obidos/ASIN/0262032937/ref%3Dnosim/necresearch-20/103-1702329-3847865

  8. Davison AJ (1998) Mobile robot navigation using active vision. PhD thesis, University of Oxford

  9. Dissanayake MWMG, Newman P, Durrant-Whyte HF, Clark S, Csorba M (1999) An experimental and theoretical investigation into simultaneous localization and map building. In: Sixth International Symposium on Experimental Robotics, pp 265–274

  10. Faugeras O, Luong Q-T, Papadopoulo T (2001) The geometry of multiple images. MIT Press; http://www.amazon.com/exec/obidos/tg/detail/-/0262062208/qid=1057849899/sr=1-2/ref=sr_1_2/103-1702329-3847865?v=glance&s=books

  11. Guivant J, Nebot E (2001) Optimization of the simultaneous localization and map building algorithm for real time implementation. IEEE Trans Robot Autom 17(3):242–257

    Article  Google Scholar 

  12. Hartley RI, Zisserman A (2001) Multiple view geometry in computer vision. Cambridge University Press [ISBN: 0521623049]

  13. Leonard JJ, Rikoski RJ, Newman PM, Bosse M (2002) Mapping partially observable features from multiple uncertain vantage points. Int J Robot Res 21(10):943–975

    Article  Google Scholar 

  14. Lozano-Pérez T (1989) Foreword. In: Cox IJ, Wilfong GT (eds.) Autonomous robot vehicles. Springer, Berlin

  15. Marr D (1982) Vision. Freeman, New York

  16. McLauchlan PF (2000) A batch/recursive algorithm for 3d scene reconstruction. In: International Conference on Computer Vision and Pattern Recognition, Hilton Head, SC, Vol 2, pp 738–743

  17. Moutarlier P, Chatila R (1989) An experimental system for incremental environment modeling by an autonomous mobile robot. In: 1st International Symposium on Experimental Robotics, Montreal

  18. Moutarlier P, Chatila R (1989) Stochastic multi-sensory data fusion for mobile robot location and environment modeling. In: 5th International Symposium on Robotics Research, pp 207–216

  19. Smith R, Self M, Cheeseman P (1990) Estimating uncertain spatial relationships in robotics. In: Cox IJ, Wilfong GT (eds) Autonomous Robot Vehicles, pp 167–193. Springer-Verlag

  20. Smith SM, Brady JM (1997) Susan – a new approach to low level image processing. Int J Comput Vision 23(1):45–78

    Article  Google Scholar 

  21. Taylor CJ, Kriegman DJ (1995) Structure and motion from line segments in multiple images. IEEE Trans Pattern Anal Mach Intell 17(11):1021–1032

    Article  Google Scholar 

  22. Taylor CJ (2000) Videoplus: a method for capturing the structure and appearance of immersive environments. In: Second Workshop on 3D Structure from Multiple Images of Large-scale Environments, pp 187–204

  23. Teller S, Antone M, Bodnar Z, Bosse M, Coorg S (2001) Calibrated, registered images of an extended urban area. In: International Conference on Computer Vision and Pattern Recognition, Kauai, Hawaii, Vol 1, pp 813–820

  24. Thrun S (2001) An online mapping algorithm for teams of mobile robots. Int J Robot Res 20(5):335–363

    Article  Google Scholar 

  25. Triggs B, Zisserman A, Szeliski R (eds.) (1999) Vision algorithms, theory and practice: International Workshop on Vision. Springer, Berlin

Download references

Author information

Authors and Affiliations

  1. Massachusetts Institute of Technology, 02139, Cambridge, MA, USA

    Michael Bosse, Richard Rikoski, John Leonard & Seth Teller

Authors
  1. Michael Bosse
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Richard Rikoski
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. John Leonard
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Seth Teller
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Michael Bosse.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Bosse, M., Rikoski, R., Leonard, J. et al. Vanishing points and three-dimensional lines from omni-directional video. Vis Comput 19, 417–430 (2003). https://doi.org/10.1007/s00371-003-0205-3

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00371-003-0205-3

Keywords

Search

Navigation