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Contour-based 3d motion recovery while zooming

AuthorsMartínez Marroquín, Elisa; Torras, Carme
Keywords3d motion recovery
Visual odometry
Time-varying internal parameters
Active contours
Planar constraints
Issue Date2003
CitationRobotics and Autonomous Systems 44(3): 219-227 (2003)
AbstractThis paper considers the problem of 3D motion recovery from a sequence of monocular images while zooming. Unlike the common trend based on point matches, the proposed method relies on the deformation of an active contour fitted to a reference object. We derive the relation between the contour deformation and the 3D motion components, assuming time-varying focal length and principal point. This relation allows us to present a method to extract the rotation matrix and the scaled translation along the optical axis.
Publisher version (URL)http://dx.doi.org/10.1016/S0921-8890(03)00072-1
Appears in Collections:(IRII) Artículos
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