Plane Estimation by Active Vision from Point Features and Image Moments - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2015

Plane Estimation by Active Vision from Point Features and Image Moments

Abstract

— In this paper we experimentally validate and compare three different methods for estimating the 3D parameters of a planar scene from a (possibly time-varying) set of feature points acquired by a moving monocular camera. The first method, based on the classical decomposition of the homography matrix, is meant to serve as a baseline condition classically used in many previous works. The other two methods exploit an active Structure from Motion (SfM) scheme for either extracting the plane from the reconstructed 3D position of all the tracked points, or for directly estimating the plane parameters by considering a set of discrete image moments as visual input. The possible loss/gain of point features during the camera motion is considered in all three methods by, in particular, introducing a suitable weighting strategy for the image moment case. Finally, the results of an experimental validation are presented with a comparative discussion of the pros/cons of the three methods.
Fichier principal
Vignette du fichier
2015_icra_spica.pdf (1.13 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01121631 , version 1 (02-03-2015)

Identifiers

  • HAL Id : hal-01121631 , version 1

Cite

Riccardo Spica, Paolo Robuffo Giordano, François Chaumette. Plane Estimation by Active Vision from Point Features and Image Moments. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. ⟨hal-01121631⟩
316 View
221 Download

Share

Gmail Facebook X LinkedIn More