Camera localization using trajectories and maps

Mohedano del Pozo, Raúl and Cavallaro, Andrea and García Santos, Narciso (2014). Camera localization using trajectories and maps. "IEEE Transactions on Pattern Analysis and Machine Intelligence", v. 36 (n. 4); pp. 684-697. ISSN 0162-8828. https://doi.org/10.1109/TPAMI.2013.243.

Description

Title: Camera localization using trajectories and maps
Author/s:
  • Mohedano del Pozo, Raúl
  • Cavallaro, Andrea
  • García Santos, Narciso
Item Type: Article
Título de Revista/Publicación: IEEE Transactions on Pattern Analysis and Machine Intelligence
Date: April 2014
ISSN: 0162-8828
Volume: 36
Subjects:
Freetext Keywords: Vision and scene understanding, camera calibration, Markov processes, tracking
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

We propose a new Bayesian framework for automatically determining the position (location and orientation) of an uncalibrated camera using the observations of moving objects and a schematic map of the passable areas of the environment. Our approach takes advantage of static and dynamic information on the scene structures through prior probability distributions for object dynamics. The proposed approach restricts plausible positions where the sensor can be located while taking into account the inherent ambiguity of the given setting. The proposed framework samples from the posterior probability distribution for the camera position via data driven MCMC, guided by an initial geometric analysis that restricts the search space. A Kullback-Leibler divergence analysis is then used that yields the final camera position estimate, while explicitly isolating ambiguous settings. The proposed approach is evaluated in synthetic and real environments, showing its satisfactory performance in both ambiguous and unambiguous settings.

More information

Item ID: 23481
DC Identifier: http://oa.upm.es/23481/
OAI Identifier: oai:oa.upm.es:23481
DOI: 10.1109/TPAMI.2013.243
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6682914
Deposited by: Memoria Investigacion
Deposited on: 13 Apr 2014 07:33
Last Modified: 21 Apr 2016 23:17
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