TY - GEN
T1 - A novel relative camera motion estimation algorithm with applications to visual odometry
AU - Jiang, Yue
AU - Kang, Mun Cheon
AU - Fan, Ming
AU - Chae, Sung Ho
AU - Ko, Sung Jea
N1 - 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).
Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/4
Y1 - 2019/1/4
N2 - 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.
AB - 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.
KW - Eight-point algorithm
KW - Trifocal tensor
KW - Visual odometry
UR - http://www.scopus.com/inward/record.url?scp=85061652397&partnerID=8YFLogxK
U2 - 10.1109/ISM.2018.000-4
DO - 10.1109/ISM.2018.000-4
M3 - Conference contribution
AN - SCOPUS:85061652397
T3 - Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018
SP - 215
EP - 216
BT - Proceedings - 2018 IEEE International Symposium on Multimedia, ISM 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th IEEE International Symposium on Multimedia, ISM 2018
Y2 - 10 December 2018 through 12 December 2018
ER -