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

Pari Pinto, Pablo Lizardo; Sebastian y Zuñiga, Jose Maria; Traslosheros Michel, Alberto; Ángel Silva, Luis y Sulla, E. (2010). Estimation of the rigid transformation between two cameras from the Fundamental Matrix VS from Homographies.. En: "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.

Descripción

Título: Estimation of the rigid transformation between two cameras from the Fundamental Matrix VS from Homographies.
Autor/es:
  • Pari Pinto, Pablo Lizardo
  • Sebastian y Zuñiga, Jose Maria
  • Traslosheros Michel, Alberto
  • Ángel Silva, Luis
  • Sulla, E.
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 7th International Conference on Electrical and Electronics Engineering Research 2010, CIIIEE 2010
Fechas del Evento: 12/10/2010 - 12/10/2010
Lugar del Evento: Aguascalientes, México
Título del Libro: Proceedings of the 7th International Conference on Electrical and Electronics Engineering Research 2010, CIIIEE 2010
Fecha: 2010
ISBN: 978-607-95060-3-2
Materias:
Palabras Clave Informales: Rigid transformation, fundamental matrix, homography, 3D reconstruction
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 8034
Identificador DC: http://oa.upm.es/8034/
Identificador OAI: oai:oa.upm.es:8034
URL Oficial: http://www.ciiiee.ita.mx/
Depositado por: Memoria Investigacion
Depositado el: 19 Ago 2011 16:52
Ultima Modificación: 20 Abr 2016 16:58
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