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https://hdl.handle.net/2440/1332
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Type: | Journal article |
Title: | Towards Robust Metric Reconstruction via a Dynamic Uncalibrated Stereo Head |
Author: | Brooks, M. De Agapito, L. Huynh, D. Baumela, L. |
Citation: | Image and Vision Computing, 1998; 16(14):989-1002 |
Publisher: | ELSEVIER SCIENCE BV |
Issue Date: | 1998 |
ISSN: | 0262-8856 1872-8138 |
Abstract: | We consider the problem of metrically reconstructing a scene viewed by a moving stereo head. The head comprises two cameras with coplanar optical axes arranged on a lateral rig, each camera being free to vary its angle of vergence. Under various constraints, we derive novel explicit forms for the epipolar equation, and show that a static stereo head constitutes a degenerate camera configuration for carrying out self-calibration. The situation is retrieved by consideration of a stereo head undergoing ground plane motion, and new closed-form solutions for self-calibration are derived. An error analysis reveals that reconstruction is adversely affected by inward-facing camera vergence angles that are similar in value, and by a principal point location whose horizontal component is in error. It is also shown that the adoption of domain-specific robust techniques for computation of the fundamental matrix can significantly improve the quality of scene reconstruction. Experiments conducted with dynamic stereo head images confirm that avoidance of near-degenerate configurations and use of robustness techniques are essential if reliable reconstructions are to be attained. © 1998 Elsevier Science B.V. All rights reserved. |
DOI: | 10.1016/s0262-8856(98)00064-x |
Published version: | http://dx.doi.org/10.1016/s0262-8856(98)00064-x |
Appears in Collections: | Aurora harvest 7 Computer Science publications |
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