Determining Epipole Location Integrity by Multimodal Sampling

Huiqin Chen (1) , Emanuel Aldea (1, 2) , Sylvie Le Hégarat-Mascle (3)

1 SATIE-MOSS - Méthodes et Outils pour les Signaux et Systèmes
2 UP11 - Université Paris-Sud - Paris 11
3 SATIE - Systèmes et Applications des Technologies de l'Information et de l'Energie

In urban cluttered scenes, a photo provided by a wear-able camera may be used by a walking law-enforcement agent as an additional source of information for localizing themselves, or elements of interest related to public safety and security. In this work, we study the problem of locating the epipole, corresponding to the position of the moving camera, in the field of view of a reference camera. We show that the presence of outliers in the standard pipeline for camera relative pose estimation not only prevents the correct estimation of the epipole localization but also degrades the standard uncertainty propagation for the epipole position. We propose a robust method for constructing an epipole location map, and we evaluate its accuracy as well as its level of integrity with respect to standard approaches.

Domaines: Informatique [cs]; Vision par ordinateur et reconnaissance de formes [cs.CV]

Huiqin Chen, Emanuel Aldea, Sylvie Le Hégarat-Mascle. Determining Epipole Location Integrity by Multimodal Sampling. 2019 16th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS), Sep 2019, Taipei, Taiwan. pp.1-8, ⟨10.1109/AVSS.2019.8909847⟩. ⟨hal-02472769⟩