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Rectification-Free Multibaseline Stereo for Non-ideal Configurations [chapter]

Hongdong Li, Richard Hartley
2005 Lecture Notes in Computer Science  
SSSD-based linear multibaseline stereo is an efficient implementation of multi-camera stereo vision system. This efficiency, however, vitally relies on the ideal configuration of all cameras.  ...  This is fulfilled by using the idea of tensor transfer used in image-based-rendering area. In particular, the multibaseline stereo is reformulated as a novel-view-synthesis problem.  ...  We give the definitions of inverse tensor transfer as: an inverse trifocal tensor is a trifocal tensor transfer relationship T ijk where the third camera index k is a real camera.  ... 
doi:10.1007/11553595_99 fatcat:dpyzobjvhncnng2ydo6usm5nfa

Inverse tensor transfer with applications to novel view synthesis and multi-baseline stereo

Hongdong Li, Richard Hartley
2006 Signal processing. Image communication  
By using this inverse transfer idea, we are able to handle non-ideally configured multi-baseline stereo in a natural and efficient way.  ...  The new MBS algorithm has been used for stereo vision navigation.  ...  Rectification-free Method based on the Inverse Tensor Transfer Using the inverse tensor transfer technique, we propose a new method to deal with a non-ideally configured multi-baseline stereo (Figure  ... 
doi:10.1016/j.image.2006.07.004 fatcat:va65oa3kbffavdaxyqictqdq4e

Differential matching constraints

B. Triggs
1999 Proceedings of the Seventh IEEE International Conference on Computer Vision  
We introduce a finite difference expansion for closely spaced cameras in projective vision, and use it to derive differential analogues of the finite-displacement projective matching tensors and constraints  ...  We relate this to nonlinear tensor estimators and show how 'unwrapping the optimization loop' along the sequence allows simple 'linear n point' update estimates to converge rapidly to statistically near-optimal  ...  When some of the cameras (or modulo image rectification, some of their centres) coincide, the discrete matching tensors either vanish or degenerate to lower degree ones 1 = F A1 A2 A2 B2 C2 Q 1123 = T  ... 
doi:10.1109/iccv.1999.791244 dblp:conf/iccv/Triggs99a fatcat:ubuxpl64nfhqlnwclz37groewm

SEAMLESS CO-REGISTRATION OF IMAGES FROM MULTI-SENSOR MULTISPECTRAL CAMERAS

M. Shahbazi, C. Cortes
2019 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
Small-format, consumer-grade multi-camera multispectral systems have gained popularity in recent years.  ...  2) a single capture, band-to-band co-registration method based on trifocal constraints.  ...  using trifocal constraints.  ... 
doi:10.5194/isprs-archives-xlii-2-w17-315-2019 fatcat:wfnqxnechrejrow242ybiqsqjm

Improved sensors based on Scheimpflug conditions and Multi-focal constraints

Mingwei Shao, Pan Wang, Jianhua Wang
2020 IEEE Access  
In this case, FOV of each camera is maximized. (2) In an improved multi-view vision sensor based on multi-focal constraint, the multi-focal tensor (in this paper, we take a trifocal tensor for example)  ...  T  using algebraic minimization algorithm can be obtained.(vii) More feature matching point-pairs satisfied the constraint of trifocal tensor qr i T  can be determined.  ... 
doi:10.1109/access.2020.3020731 fatcat:cdmp6wm2bncszk3gkk3e6vu7va

Real-Time Multi-Step View Reconstruction for a Virtual Teleconference System

B. J. Lei, E. A. Hendriks
2002 EURASIP Journal on Advances in Signal Processing  
We propose a real-time multi-step view reconstruction algorithm and we tune its implementation to a virtual teleconference application.  ...  The proposed algorithm can be used to reconstruct novel views at arbitrary poses (position and orientation) in a way that is geometrically valid.  ...  Using the same example data and disparity maps as in Figure 11 , the reconstructed novel views both from our multi-step algorithm and from the trifocal tensor approach are shown in Figure 17 .  ... 
doi:10.1155/s1110865702206071 fatcat:qp5t4w7bevh2lkqwkxhahxbneu

Plane + Parallax, Tensors and Factorization [chapter]

Bill Triggs
2000 Lecture Notes in Computer Science  
We study the special form that the general multi-image tensor formalism takes under the plane + parallax decomposition, including matching tensors and constraints, closure and depth recovery relations,  ...  and inter-tensor consistency constraints.  ...  Coherent relative scaling of the terms of the trifocal and quadrifocal tensor sums is indispensable here, as in most other multi-term tensor relations.  ... 
doi:10.1007/3-540-45054-8_34 fatcat:rv5wwga3rreyjlac7nx66ek2zq

Egomotion using assorted features

Vivek Pradeep, Jongwoo Lim
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
Utilizing trifocal tensor geometry and quaternion representation of rotation matrices, we develop a polynomial system from which camera motion parameters can be robustly extracted in the presence of noise  ...  We show how the more popular approach of using direct linear/subspace techniques fail in this regard and demonstrate improved performance using our formulation with extensive experiments and comparisons  ...  from noisy trifocal tensors.  ... 
doi:10.1109/cvpr.2010.5539792 dblp:conf/cvpr/PradeepL10 fatcat:h44bt7vlergxhk3vw77htxewre

Egomotion Estimation Using Assorted Features

Vivek Pradeep, Jongwoo Lim
2011 International Journal of Computer Vision  
The mathematical framework of our method is based on trifocal tensor geometry and a quaternion representation of rotation matrices.  ...  A simple polynomial system is developed from which camera motion parameters may be extracted more robustly in the presence of severe noise, as compared to the conventionally employed direct linear/subspace  ...  from noisy trifocal tensors.  ... 
doi:10.1007/s11263-011-0504-5 fatcat:ne3rvjnugnf4xi2xdmgaibxfsu

Structure from motion using a hybrid stereo-vision system

Francois Rameau, Desire Sidibe, Cedric Demonceaux, David Fofi
2015 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)  
This paper is dedicated to robotic navigation using an original hybrid-vision setup combining the advantages offered by two different types of camera.  ...  This couple of cameras is composed of one perspective camera associated with one fisheye camera.  ...  in the trifocal tensor T pi , every single triplet of point provide 9 dependant linear equations.  ... 
doi:10.1109/urai.2015.7358916 dblp:conf/urai/RameauSDF15 fatcat:2sdvselh6fbvtj4cihh3o33y6e

Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme

Bernd Kitt, Andreas Geiger, Henning Lategahn
2010 2010 IEEE Intelligent Vehicles Symposium  
The only assumption we make is a known camera geometry, where the calibration may also vary over time.  ...  A high-accuracy inertial navigation system is used to evaluate our results on challenging real-world video sequences.  ...  Using the trifocal tensors, a non-linear mapping of the point correspondence x R,k ↔ x L,k into the current images via al.  ... 
doi:10.1109/ivs.2010.5548123 dblp:conf/ivs/KittGL10 fatcat:z3cyiz3skzfv7clkr2lwxm3mxu

An experiment of a 3D real-time robust visual odometry for intelligent vehicles

Sergio Alberto, Rodriguez Florez, Vincent Fremont, Philippe Bonnifait
2009 2009 12th International IEEE Conference on Intelligent Transportation Systems  
In order to run in real-time, the studied technique is sparse meaning that it makes use of feature points that are tracked during several frames.  ...  In this paper, we present a 3D visual odometric method that uses a stereo-vision system to estimate the 3D ego-motion of a vehicle in outdoor road conditions.  ...  These camera matrices are computed with respect to a camera reference. The reference for the trifocal tensor l T jk i , is the camera 1 and for r T jk i is the camera 2 illustrated in Figure 4 .  ... 
doi:10.1109/itsc.2009.5309615 fatcat:kwlca5izjng3tn2xpbwl7g7rka

Super-resolution of a 3-dimensional scene from novel viewpoints

Kyle Nelson, Asim Bhatti, Saeid Nahavandi
2012 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)  
2D homographies and a more effective method utilising trifocal tensors.  ...  It was discovered that the application of different reference frames during robust inverse tensor transfer creates variation in the synthesised images, which is subsequently exploited in a unique multi-view  ...  Using standard tensor notation Trifocal Transfer Trifocal transfer, proposed initially by Avidan and Shashua [227] , seeks to exploit the properties of the trifocal tensor discussed in Section 6.  ... 
doi:10.1109/icarcv.2012.6485347 dblp:conf/icarcv/NelsonBN12 fatcat:wfakbldhzfhl3jlkcwsuu7v34m

What is a camera?

J. Ponce
2009 2009 IEEE Conference on Computer Vision and Pattern Recognition  
Concretely, we use the formalism and terminology of classical projective geometry to model cameras by two-parameter linear families of straight lines-that is, degenerate reguli (rank-3 families) and non-degenerate  ...  This model captures both the general linear cameras of Yu and McMillan [16] and the linear oblique cameras of Pajdla [8] .  ...  Multi-view geometry is well understood for pinhole cameras, and it can be represented analytically in the projective case in terms of the fundamental matrix and trifocal tensor associated with two or three  ... 
doi:10.1109/cvprw.2009.5206668 fatcat:b6tb5w3hgrhpbewvvufofswf3a

What is a camera?

Jean Ponce
2009 2009 IEEE Conference on Computer Vision and Pattern Recognition  
Concretely, we use the formalism and terminology of classical projective geometry to model cameras by two-parameter linear families of straight lines-that is, degenerate reguli (rank-3 families) and non-degenerate  ...  This model captures both the general linear cameras of Yu and McMillan [16] and the linear oblique cameras of Pajdla [8] .  ...  Multi-view geometry is well understood for pinhole cameras, and it can be represented analytically in the projective case in terms of the fundamental matrix and trifocal tensor associated with two or three  ... 
doi:10.1109/cvpr.2009.5206668 dblp:conf/cvpr/Ponce09 fatcat:hmmfx3ssgre3zcrwq6hpm6hh7u
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