Abstract
Accurate online estimation of the structure of the environment together with the pose of the robot is an important component to enable autonomous robotic applications. This paper analyses the different parameterisations used in structure from motion (SFM) problem in the context of accuracy and efficiency of the online solutions. Three point parameterisations are compared: Euclidean, inverse depth and inverse distance. At the same time two representations, global and local point coordinates are tested. Different metrics are used to compare the results, camera localisation errors, reprojection errors, execution time as well as a complete analysis on how different parameterisations affect the convergence, system's condition number and the incremental solving are provided. The paper shows that, with the correct parameterisation, efficient globally consistent SFM is possible, which under the assumption of small, bounded number of correspondences performs in constant time in open loop.
| Original language | English |
|---|---|
| Title of host publication | Australasian Conference on Robotics and Automation, ACRA 2015 |
| Subtitle of host publication | 2-4 December 2015; Canberra, Australia |
| Editors | Robert Mahony, Jonghyuk Kim, Hongdong Li |
| Place of Publication | Canberra ACT Australia |
| Publisher | Australian Robotics & Automation Association Inc |
| Pages | 52-60 |
| Number of pages | 9 |
| ISBN (Electronic) | 9780980740462 |
| ISBN (Print) | 9781510819269 |
| Publication status | Published - 2015 |
| Event | Australasian Conference on Robotics and Automation 2015 - Australian National University (ANU), Canberra, Australia Duration: 2 Dec 2015 → 4 Dec 2015 http://www.araa.asn.au/conferences/acra-2015/ |
Conference
| Conference | Australasian Conference on Robotics and Automation 2015 |
|---|---|
| Abbreviated title | ACRA 2015 |
| Country | Australia |
| City | Canberra |
| Period | 2/12/15 → 4/12/15 |
| Internet address |
Cite this
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The effect of different parameterisations in incremental structure from motion. / Polok, Lukas; Lui, Vincent Wen Han; Ila, Viorela; Drummond, Thomas William; Mahony, Robert E.
Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. ed. / Robert Mahony; Jonghyuk Kim; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. p. 52-60.Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review
TY - GEN
T1 - The effect of different parameterisations in incremental structure from motion
AU - Polok, Lukas
AU - Lui, Vincent Wen Han
AU - Ila, Viorela
AU - Drummond, Thomas William
AU - Mahony, Robert E
PY - 2015
Y1 - 2015
N2 - Accurate online estimation of the structure of the environment together with the pose of the robot is an important component to enable autonomous robotic applications. This paper analyses the different parameterisations used in structure from motion (SFM) problem in the context of accuracy and efficiency of the online solutions. Three point parameterisations are compared: Euclidean, inverse depth and inverse distance. At the same time two representations, global and local point coordinates are tested. Different metrics are used to compare the results, camera localisation errors, reprojection errors, execution time as well as a complete analysis on how different parameterisations affect the convergence, system's condition number and the incremental solving are provided. The paper shows that, with the correct parameterisation, efficient globally consistent SFM is possible, which under the assumption of small, bounded number of correspondences performs in constant time in open loop.
AB - Accurate online estimation of the structure of the environment together with the pose of the robot is an important component to enable autonomous robotic applications. This paper analyses the different parameterisations used in structure from motion (SFM) problem in the context of accuracy and efficiency of the online solutions. Three point parameterisations are compared: Euclidean, inverse depth and inverse distance. At the same time two representations, global and local point coordinates are tested. Different metrics are used to compare the results, camera localisation errors, reprojection errors, execution time as well as a complete analysis on how different parameterisations affect the convergence, system's condition number and the incremental solving are provided. The paper shows that, with the correct parameterisation, efficient globally consistent SFM is possible, which under the assumption of small, bounded number of correspondences performs in constant time in open loop.
UR - http://www.scopus.com/inward/record.url?scp=85023755920&partnerID=8YFLogxK
UR - http://www.araa.asn.au/acra/acra2015/papers/pap155.pd
M3 - Conference Paper
SN - 9781510819269
SP - 52
EP - 60
BT - Australasian Conference on Robotics and Automation, ACRA 2015
A2 - Mahony, Robert
A2 - Kim, Jonghyuk
A2 - Li, Hongdong
PB - Australian Robotics & Automation Association Inc
CY - Canberra ACT Australia
ER -