Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Trajectory representation and landmark projection for continuous-time structure from motion
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering. Swedish Def Res Agcy, Sweden.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-5698-5983
2019 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 38, no 6, p. 686-701Article in journal (Refereed) Published
Abstract [en]

This paper revisits the problem of continuous-time structure from motion, and introduces a number of extensions that improve convergence and efficiency. The formulation with a C2-continuous spline for the trajectory naturally incorporates inertial measurements, as derivatives of the sought trajectory. We analyze the behavior of split spline interpolation on SO(3) and on R3, and a joint spline on SE(3), and show that the latter implicitly couples the direction of translation and rotation. Such an assumption can make good sense for a camera mounted on a robot arm, but not for hand-held or body-mounted cameras. Our experiments in the Spline Fusion framework show that a split spline on R3andSO(3) is preferable over an SE(3) spline in all tested cases. Finally, we investigate the problem of landmark reprojection on rolling shutter cameras, and show that the tested reprojection methods give similar quality, whereas their computational load varies by a factor of two.

Place, publisher, year, edition, pages
SAGE PUBLICATIONS LTD , 2019. Vol. 38, no 6, p. 686-701
Keywords [en]
Continuous-time; sensor fusion; computer vision; SLAM; rolling shutter; structure from motion
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-158352DOI: 10.1177/0278364919839765ISI: 000468940000004OAI: oai:DiVA.org:liu-158352DiVA, id: diva2:1333843
Note

Funding Agencies|Swedish Research Council through project LCMM [2014-5928]; Swedish Research Council through project EMC2 [2014-6227]

Available from: 2019-07-02 Created: 2019-07-02 Last updated: 2019-10-28

Open Access in DiVA

fulltext(5397 kB)6 downloads
File information
File name FULLTEXT01.pdfFile size 5397 kBChecksum SHA-512
35c5334bd16f28edb116333e642620db95c8676c7a6bd2ca86c2d4ecb00f0f36cbdcf2cb4f87e8358d1f55fbab56e411b66ccfc0f56efccb9ee19f3ce09dc09b
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Ovrén, HannesForssén, Per-Erik
By organisation
Computer VisionFaculty of Science & Engineering
In the same journal
The international journal of robotics research
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 6 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 44 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf