Real-time robust estimation of vanishing points through nonlinear optimization

Nieto Doncel, Marcos and Salgado Álvarez de Sotomayor, Luis (2010). Real-time robust estimation of vanishing points through nonlinear optimization. In: "IS&T/SPIE International Conference on Real-Time Image and Video Processing", 16/04/2010 - 16/04/2010, Bruselas, Bélgica. ISBN 9780819481979.

Description

Title: Real-time robust estimation of vanishing points through nonlinear optimization
Author/s:
  • Nieto Doncel, Marcos
  • Salgado Álvarez de Sotomayor, Luis
Item Type: Presentation at Congress or Conference (Article)
Event Title: IS&T/SPIE International Conference on Real-Time Image and Video Processing
Event Dates: 16/04/2010 - 16/04/2010
Event Location: Bruselas, Bélgica
Title of Book: Proceedings fo IS&T/SPIE International Conference on Real-Time Image and Video Processing
Date: May 2010
ISBN: 9780819481979
Volume: 7724
Subjects:
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

Vanishing points are elements of great interest in the computer vision field, since they are the main source of information about the geometry of the scene and the projection process associated to the camera. They have been studied and applied during decades for plane rectification, 3D reconstruction, and mainly auto-calibration tasks. Nevertheless, the literature lacks accurate online solutions for multiple vanishing point estimation. Most strategies focalize on the accuracy, using highly computational demanding iterative procedures. We propose a novel strategy for multiple vanishing point estimation that finds a trade-off between accuracy and efficiency, being able to operate in real time for video sequences. This strategy takes advantage of the temporal coherence of the images of the sequences to reduce the computational load of the processing algorithms while keeping a high level of accuracy due to an optimization process. The key element of the approach is a robust scheme based on the MLESAC algorithm, which is used in a similar way to the EM algorithm. This approach ensures robust and accurate estimations, since we use the MLESAC in combination with a novel error function, based on the angular error between the vanishing point and the image features. To increase the speed of the MLESAC algorithm, the selection of the minimal sample sets is substituted by a random sampling step that takes into account temporal information to provide better initializations. Besides, for the sake of flexibility, the proposed error function has been designed to work using as image features indiscriminately gradient-pixels or line segments. Hence, we increase the range of applications in which our approach can be used, according to the type of information that is available. The results show a real-time system that delivers real-time accurate estimations of multiple vanishing points for online processing, tested in moving camera video sequences of structured scenarios, both indoors and outdoors, such as rooms, corridors, facades, roads, etc.

More information

Item ID: 9216
DC Identifier: http://oa.upm.es/9216/
OAI Identifier: oai:oa.upm.es:9216
Official URL: http://spiedigitallibrary.org/proceedings/resource/2/psisdg/7724/1/772402_1?isAuthorized=no
Deposited by: Memoria Investigacion
Deposited on: 18 Oct 2011 10:32
Last Modified: 20 Apr 2016 17:43
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