Abstract
We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process. This method allows a direct calculation of the metric position and rotation without any necessity to fuse the information in a probabilistic approach over longer frame sequence as it is the case in most currently used VSLAM approaches. The algorithm provides two novel aspects to the field of monocular navigation. It allows a direct pose estimation without any a-priori knowledge about the world directly from any two images and it provides a quality measure for the estimated motion parameters that allows to fuse the resulting information in Kalman Filters.
We present the mathematical formulation of the approach together with experimental validation on real scene images.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arun, K.S., Huang, T.S., Blostein, S.D.: Least-squares fitting of two 3-D point sets. IEEE Trans. Pat. Anal. Machine Intell. 9, 698–700 (1987)
Fischler, M., Bolles, R.: Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Commun. ACM 24(6), 381–395 (1981)
Davison, A.J.: Real-Time Simultaneous Localisation and Mapping with a Single Camera. In: Proc. Internation Conference on Computer Vision, vol. 2, pp. 1403–1412 (2003)
Horn, B.K.P.: Closed-form solution of absolute orientation using orthonomal matrices. J. Opt. Soc. Amer. 5, 1127–1135 (1988)
Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternion. J. Opt. Soc. Amer. A-4, 629–642 (1987)
Horn, B.K.P.: Robot Vision. MIT Press, Cambridge (1986)
Longuet-Higgins, H.C.: A computer algorithm for reconstructing a scene from two projections. Nature 293(10), 133–135 (1981)
Nister, D.: A Minimal Solution to the Generalised 3-Point Pose Problem. In: CVPR 2004 (2004)
Thrun, S.: Learning metric-topological maps for indoor mobile robot navigation. Artificial Intelligence 99(1), 21–71 (1998)
Walker, M.W., Shao, L., Volz, R.A.: Estimating 3-D location parameters using dual number quaternions. CVGIP: Image Understanding 54(3), 358–367 (1991)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, ambridge
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Burschka, D., Mair, E. (2008). Direct Pose Estimation with a Monocular Camera. In: Sommer, G., Klette, R. (eds) Robot Vision. RobVis 2008. Lecture Notes in Computer Science, vol 4931. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78157-8_34
Download citation
DOI: https://doi.org/10.1007/978-3-540-78157-8_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-78156-1
Online ISBN: 978-3-540-78157-8
eBook Packages: Computer ScienceComputer Science (R0)