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Handling Uncertainty and Networked Structure in Robot Control pp 129–151Cite as

Homography Estimation Between Omnidirectional Cameras Without Point Correspondences

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Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 42))

Abstract

This chapter presents a novel approach for homography estimation between omnidirectional cameras. The solution is formulated in terms of a system of nonlinear equations. Each equation is generated by integrating a nonlinear function over corresponding image regions on the surface of the unit spheres representing the cameras. The method works without point correspondences or complex similarity metrics, using only a pair of corresponding planar regions extracted from the omnidirectional images. Relative pose of the cameras can be factorized from the estimated homography. The efficiency and robustness of the proposed method has been confirmed on both synthetic and real data.

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Acknowledgments

This research was partially supported by Domus MTA Hungary; and by the European Union and the State of Hungary, co-financed by the European Social Fund through projects FuturICT.hu (grant no.: TAMOP-4.2.2.C-11/1/KONV-2012-0013) and TAMOP-4.2.4.A/2-11-1-2012-0001 National Excellence Program. The authors would like to thank Levente Hajder for the Matlab implementation of the factorization method from Faugeras and Lustman (1988).

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Authors and Affiliations

  1. Institute of Informatics, University of Szeged, Arpad ter 2, Szeged, Hungary

    Robert Frohlich & Zoltan Kato

  2. Department of Automation, Technical University of Cluj-Napoca, Dorobantilor st. 73, Cluj-Napoca, Romania

    Levente Tamás

  3. Department of Mathematics and Informatics, J. Selye University, Komarno, Slovakia

    Zoltan Kato

Authors
  1. Robert Frohlich
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  2. Levente Tamás
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  3. Zoltan Kato
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Corresponding author

Correspondence to Zoltan Kato .

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Editors and Affiliations

  1. Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Lucian Busoniu

  2. Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Levente Tamás

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Frohlich, R., Tamás, L., Kato, Z. (2015). Homography Estimation Between Omnidirectional Cameras Without Point Correspondences. In: Busoniu, L., Tamás, L. (eds) Handling Uncertainty and Networked Structure in Robot Control. Studies in Systems, Decision and Control, vol 42. Springer, Cham. https://doi.org/10.1007/978-3-319-26327-4_6

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  • DOI: https://doi.org/10.1007/978-3-319-26327-4_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26325-0

  • Online ISBN: 978-3-319-26327-4

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