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Egomotion Estimation Using Assorted Features
2011
International Journal of Computer Vision
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This is demonstrated with extensive experiments and comparisons against the 3-point and line-sfm algorithms. ...
The mathematical framework of our method is based on trifocal tensor geometry and a quaternion representation of rotation matrices. ...
from noisy trifocal tensors. ...
doi:10.1007/s11263-011-0504-5
fatcat:ne3rvjnugnf4xi2xdmgaibxfsu
Zoom-invariant tracking using points and lines in affine views. An application of the affine multifocal tensors
1999
Proceedings of the Seventh IEEE International Conference on Computer Vision
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In order to also make use of lines the paper then illustrates how the affine tri-and quadrifocal tensors may be applied to tracking with zoom in monocular and stereo systems respectively. ...
This paper describes methods for tracking using point and line features in affine views to provide fundamental invariance to changes of focal length. ...
The quadrifocal tensor in the original frame is given by q = T B«.
Figure 3 . 3 Tracking an object with a stereo head using the trifocal tensors derived from the quadrifocal tensor for transfer. ...
doi:10.1109/iccv.1999.791230
dblp:conf/iccv/HaymanTM99
fatcat:g7h43zeiprcmfh6vtcmr63lz5y
Continuous Event-Line Constraint for Closed-Form Velocity Initialization
[article]
2021
arXiv
pre-print
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We propose the continuous event-line constraint, which relies on a constant-velocity motion assumption as well as trifocal tensor geometry in order to express a relationship between line observations given ...
Event cameras are particularly well suited to sense motion dynamics in agile scenarios. ...
Continuous Event-Line Constraint We give a review of the trifocal tensor with standard cameras. ...
arXiv:2109.04313v2
fatcat:meu5klvignas5kvvkhhiakfale
Virtual Target Formulation for Singularity-Free Visual Control Using the Trifocal Tensor
[chapter]
2013
Lecture Notes in Computer Science
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from the real target. ...
We present a novel approach for visual control of wheeled mobile robots, extending the existing works that use the trifocal tensor as source for measurements. ...
= T 132 T 131 . (7) Note that the first tensor element comes from the "true" trifocal tensor, while the last two elements come from the virtual one. ...
doi:10.1007/978-3-642-38989-4_4
fatcat:td7q33uodrfavjqsddvoxy2dyi
Sinusoidal input-based visual control for nonholonomic vehicles
2013
Robotica (Cambridge. Print)
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All the information used in the control scheme is obtained from omnidirectional vision by means of the 1D trifocal tensor. ...
For the second part of the motion, i.e. the straight-line path, we computed the controls associated to our method directly from the elements of the 1D trifocal tensor, as described in section IV. ...
the 1D trifocal tensor. ...
doi:10.1017/s0263574713000106
fatcat:cuqtgums55b7baxd3dcp4blmry
3D face and motion estimation from sparse points using adaptive bracketed minimization
2011
Multimedia tools and applications
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This paper presents a novel method for estimating camera motion and reconstructing human face from a video sequence. ...
Examples of face reconstruction using other methods including trifocal tensor, Powell's minimization, and gradient descent are also compared to the proposed method. ...
The trifocal tensor with camera-resectioning approach, detailed in [11] , is used. ...
doi:10.1007/s11042-011-0925-8
fatcat:kdtio5bvdzh6xo2zrjfzn3nk4u
Occlusion Handling in Augmented Reality Using Background-Foreground Segmentation and Projective Geometry
2005
Presence - Teleoperators and Virtual Environments
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Extending the work further, we propose a novel method of augmentation by using trifocal tensors to augment 3D objects in 3D scenes to similar effect and implement it in real time as a proof of concept. ...
The overlay is robust to arbitrary camera motion. ...
Shape and motion from image streams: A factorization method. Part 3-Detection and tracking of point features. CMU-CS-TR-91-132. Uenohara, M., & Kanade, T. (1995). ...
doi:10.1162/105474605323384636
fatcat:5be66zubsveblh2s2avosxb3sa
Laser steering using virtual trifocal visual servoing
2015
The international journal of robotics research
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Moreover, only "twenty-five lines of code" are necessary to design a fast trifocal control system. ...
It proposes to revisit the conventional trifocal constraints governing a three-view geometry for a more suitable use in the design of an efficient trifocal vision-based control. ...
Peter Sturm from the INRIA Grenoble Rhône-Alpes (STEEP research team), France, as well as the reviewers for all their comments allowing to improve this paper. ...
doi:10.1177/0278364915585585
fatcat:7v3t2xmebfcjhfvblgxi73tk2e
Weakly calibrated stereoscopic visual servoing for laser steering: Application to phonomicrosurgery
2014
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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The method is validated on a realistic testbench and the straight point-to-point trajectories are demonstrated. ...
To perform this, a visual control law based on trifocal geometry is designed using two cameras and a laser source (virtual camera). ...
and the set of 3×3 matrix T 1 , T 2 , and T 3 represent the trifocal tensor T 3×3×3 . ...
doi:10.1109/iros.2014.6942641
dblp:conf/iros/TamadazteA14
fatcat:nak2vlkq3naw7jg5xqod3vkgem
Accurate Quadrifocal Tracking for Robust 3D Visual Odometry
2007
Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on
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This paper describes a new image-based approach to tracking the 6dof trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the ...
The trifocal tensor T is a third order tensor represented by a homogeneous 3 × 3 × 3 array of elements. ...
T jk i = k j m t m k n i r o n k −1 k o − k k m t m k n i r o n k −1 j , where (r , Given any line l coincident with p or any line l coincident with p then the trifocal tensor contracts so as to become ...
doi:10.1109/robot.2007.363762
dblp:conf/icra/ComportMR07
fatcat:annqirp3preyrhn4uphcm7ygvu
The Applications of Uncalibrated Occlusion Junctions
1999
Procedings of the British Machine Vision Conference 1999
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The first algorithm uses the trifocal tensor to automatically locate T-junctions visible in three views, whilst the second application uses junction points to obtain a constraint for the detection of planar ...
When a scene is viewed from two different viewpoints there are often regions which are only visible in one of the two views. ...
The trifocal tensor [8] can be used to project a line from two views into a third view. ...
doi:10.5244/c.13.25
dblp:conf/bmvc/BroadhurstC99
fatcat:plheqlqoyrhmzhtddygvdwizla
Real-time Quadrifocal Visual Odometry
2010
The international journal of robotics research
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and INRIA Sophia-Antipolis. comport@i3s.unice.fr † The second two authors are with INRIA, ...
This paper describes a new image-based approach to tracking the 6 degrees of freedom trajectory of a stereo camera pair using a corresponding reference image pair whilst simultaneously determining pixel ...
Given any line l coincident with p or any line l ′ coincident with p ′ then the trifocal tensor contracts so as to become a homography h which maps points from one reference image to the current image. ...
doi:10.1177/0278364909356601
fatcat:s5uhb7524ndnflr7rxawz7vov4
Appearance-Based Indoor Navigation by IBVS Using Line Segments
2016
IEEE Robotics and Automation Letters
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This paper presents a method for image-based navigation from an image memory using line segments as landmarks. ...
Real-time navigation has been validated inside a corridor and inside a room with a Pioneer 3DX equipped with an on-board camera. ...
Let T = [T 1 , T 2 , T 3 ] be the 3 × 3 × 3 trifocal tensor, T 1 ,T 2 and T 3 be the individual 3×3 matrices of T , and l 1 ↔ l 2 ↔ l 3 be the line correspondences in three views: these are 3 × 1 vectors ...
doi:10.1109/lra.2016.2521907
dblp:journals/ral/BistaGC16
fatcat:ae5xkgdydfdojpb7e22zerpj7i
Trifocal Relative Pose from Lines at Points
2020
Zenodo
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A scientific paper titled "Trifocal Relative Pose from Lines at Points" co-funded by the H2020 Research and Innovation Action ARtwin (GA:856994) ...
., using straight lines as features, with three points, only one free (unattached to a point) straight line feature is required. ...
Seminal works used curves and edges in three views to transfer differential geometry for matching [5, 61] , and for pose and trifocal tensor estimation [13, 66] , beyond straight lines for uncalibrated ...
doi:10.5281/zenodo.4024124
fatcat:2aiga5ck3fe6dektwo24kpqnk4
A single visual-servo controller of mobile robots with super-twisting control
2014
Robotics and Autonomous Systems
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This paper presents a novel approach for image-based visual servoing, extending the existing works that use the trifocal tensor (TT) as source for image measurements. ...
A formulation of the TT-based control problem with a virtual target resulting from the vertical translation of the real target allows us to design a single controller, able to regulate the robot pose towards ...
A simple workaround uses the fact that the TT gives a unique transferred straight line for the third view, given any two straight lines equations in the first and second views. ...
doi:10.1016/j.robot.2014.03.009
fatcat:iiniblfrzzgktnmtwhidilrn4m
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