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| HAL : hal-00640182, version 1 |
| DOI : 10.1109/ICSMC.2009.5346771 |
| Fiche détaillée |  Récupérer au format |
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| IEEE International Conference on Systems, Man and Cybernetics (SMC 2009), San Antonio, TX : États-Unis (2009) |
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| Robust Camera Egomotion Estimation from 3D Straight Line-Based Environment model |
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Fakhr-Eddine Ababsa 1 |
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| (12/2009) |
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| In this paper we present a new robust camera pose estimation approach based on 3D lines features. The proposed method is well adapted for mobile augmented reality applications. We used an extended Kalman filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method include first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments from the input model. And second, a new powerful framework for camera pose estimation using only 2D-3D straight-lines within an EKF. Experimental results on real image sequences are presented to evaluate the performances and the feasibility of the proposed approach in indoor and outdoor environments. |
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| 1 : | Informatique, Biologie Intégrative et Systèmes Complexes (IBISC) |
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CNRS : FRE3190 – Université d'Evry-Val d'Essonne |
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| Domaine | : | Sciences de l'ingénieur/Traitement du signal et de l'image Informatique/Traitement du signal et de l'image |
| hal-00640182, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00640182 | |
| oai:hal.archives-ouvertes.fr:hal-00640182 | |
| Contributeur : Frédéric Davesne | |
| Soumis le : Jeudi 10 Novembre 2011, 19:38:04 | |
| Dernière modification le : Jeudi 10 Novembre 2011, 19:38:04 | |
