Estimation of the rigid transformation between two cameras from the Fundamental Matrix VS from Homographies.

Pari Pinto, Pablo Lizardo and Sebastian y Zuñiga, Jose Maria and Traslosheros Michel, Alberto and Ángel Silva, Luis and Sulla, E. (2010). Estimation of the rigid transformation between two cameras from the Fundamental Matrix VS from Homographies.. In: "7th International Conference on Electrical and Electronics Engineering Research 2010, CIIIEE 2010", 12/10/2010 - 12/10/2010, Aguascalientes, México. ISBN 978-607-95060-3-2.

Description

Title: Estimation of the rigid transformation between two cameras from the Fundamental Matrix VS from Homographies.
Author/s:
  • Pari Pinto, Pablo Lizardo
  • Sebastian y Zuñiga, Jose Maria
  • Traslosheros Michel, Alberto
  • Ángel Silva, Luis
  • Sulla, E.
Item Type: Presentation at Congress or Conference (Article)
Event Title: 7th International Conference on Electrical and Electronics Engineering Research 2010, CIIIEE 2010
Event Dates: 12/10/2010 - 12/10/2010
Event Location: Aguascalientes, México
Title of Book: Proceedings of the 7th International Conference on Electrical and Electronics Engineering Research 2010, CIIIEE 2010
Date: 2010
ISBN: 978-607-95060-3-2
Subjects:
Freetext Keywords: Rigid transformation, fundamental matrix, homography, 3D reconstruction
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The 3D reconstruction is an important step for the analytical calculation of the Jacobian of the image in a process of visual control of robots. In a two-camera stereo system that reconstruction depends on the knowledge of the rigid transformation between the two cameras and is represented by the rotation and translation between them. These two parameters are the result of a calibration of the stereo pair, but can also be retrieved from the epipolar geometry of the system, or from a homography obtained by features belonging to a flat object in the scene. In this paper, we make an assessment of the latter two alternatives, taking as reference an Euclidean reconstruction eliminating image distortion. We analyze three cases: the distortion inherent in the camera is corrected, without corrected distortion, and when Gaussian noise is added to the detection of features.

More information

Item ID: 8034
DC Identifier: http://oa.upm.es/8034/
OAI Identifier: oai:oa.upm.es:8034
Official URL: http://www.ciiiee.ita.mx/
Deposited by: Memoria Investigacion
Deposited on: 19 Aug 2011 16:52
Last Modified: 20 Apr 2016 16:58
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