A novel relative camera motion estimation algorithm with applications to visual odometry

Yue Jiang; Mun Cheon Kang; Ming Fan; Sung Ho Chae; Sung Jea Ko

doi:10.1109/ISM.2018.000-4

A novel relative camera motion estimation algorithm with applications to visual odometry

Yue Jiang, Mun Cheon Kang, Ming Fan, Sung Ho Chae, Sung Jea Ko

School of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we propose a novel method to estimate the relative camera motions of three consecutive images. Given a set of point correspondences in three views, the proposed method determines the fundamental matrix representing the geometrical relationship between the first two views by using the eight-point algorithm. Then, by minimizing the proposed cost function with the fundamental matrix, the relative camera motions over three views are precisely estimated. The experimental results show that the proposed method outperforms the conventional two-view and three-view geometry-based method in terms of the accuracy.

Original language	English
Title of host publication	Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	215-216
Number of pages	2
ISBN (Electronic)	9781538668573
DOIs	https://doi.org/10.1109/ISM.2018.000-4
Publication status	Published - 2019 Jan 4
Event	20th IEEE International Symposium on Multimedia, ISM 2018 - Taichung, Taiwan, Province of China Duration: 2018 Dec 10 → 2018 Dec 12

Publication series

Name	Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018

Conference

Conference	20th IEEE International Symposium on Multimedia, ISM 2018
Country	Taiwan, Province of China
City	Taichung
Period	18/12/10 → 18/12/12

Keywords

Eight-point algorithm
Trifocal tensor
Visual odometry

ASJC Scopus subject areas

Signal Processing
Media Technology

Access to Document

10.1109/ISM.2018.000-4

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Cite this

Jiang, Y., Kang, M. C., Fan, M., Chae, S. H., & Ko, S. J. (2019). A novel relative camera motion estimation algorithm with applications to visual odometry. In Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018 (pp. 215-216). [8603292] (Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISM.2018.000-4

A novel relative camera motion estimation algorithm with applications to visual odometry. / Jiang, Yue; Kang, Mun Cheon; Fan, Ming; Chae, Sung Ho; Ko, Sung Jea.

Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 215-216 8603292 (Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jiang, Y, Kang, MC, Fan, M, Chae, SH & Ko, SJ 2019, A novel relative camera motion estimation algorithm with applications to visual odometry. in Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018., 8603292, Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018, Institute of Electrical and Electronics Engineers Inc., pp. 215-216, 20th IEEE International Symposium on Multimedia, ISM 2018, Taichung, Taiwan, Province of China, 18/12/10. https://doi.org/10.1109/ISM.2018.000-4

Jiang Y, Kang MC, Fan M, Chae SH, Ko SJ. A novel relative camera motion estimation algorithm with applications to visual odometry. In Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 215-216. 8603292. (Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018). https://doi.org/10.1109/ISM.2018.000-4

Jiang, Yue ; Kang, Mun Cheon ; Fan, Ming ; Chae, Sung Ho ; Ko, Sung Jea. / A novel relative camera motion estimation algorithm with applications to visual odometry. Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 215-216 (Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018).

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abstract = "In this paper, we propose a novel method to estimate the relative camera motions of three consecutive images. Given a set of point correspondences in three views, the proposed method determines the fundamental matrix representing the geometrical relationship between the first two views by using the eight-point algorithm. Then, by minimizing the proposed cost function with the fundamental matrix, the relative camera motions over three views are precisely estimated. The experimental results show that the proposed method outperforms the conventional two-view and three-view geometry-based method in terms of the accuracy.",

keywords = "Eight-point algorithm, Trifocal tensor, Visual odometry",

author = "Yue Jiang and Kang, {Mun Cheon} and Ming Fan and Chae, {Sung Ho} and Ko, {Sung Jea}",

note = "Funding Information: ACKNOWLEDGMENT This work was supported by Korea Evaluation Institute of Industrial Technology (KEIT) grant funded by the Korea government (MOTIE) (No.10080639, Development of HD resolution and mm level precision 3D gesture recognition camera for attention and convenience maximization).; 20th IEEE International Symposium on Multimedia, ISM 2018 ; Conference date: 10-12-2018 Through 12-12-2018",

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