The effect of different parameterisations in incremental structure from motion

Lukas Polok, Vincent Wen Han Lui, Viorela Ila, Thomas William Drummond, Robert E Mahony

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3 Citations (Scopus)


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 languageEnglish
Title of host publicationAustralasian Conference on Robotics and Automation, ACRA 2015
Subtitle of host publication2-4 December 2015; Canberra, Australia
EditorsRobert Mahony, Jonghyuk Kim, Hongdong Li
Place of PublicationCanberra ACT Australia
PublisherAustralian Robotics and Automation Association (ARAA)
Number of pages9
ISBN (Electronic)9780980740462
ISBN (Print)9781510819269
Publication statusPublished - 2015
EventAustralasian Conference on Robotics and Automation 2015 - Australian National University (ANU), Canberra, Australia
Duration: 2 Dec 20154 Dec 2015


ConferenceAustralasian Conference on Robotics and Automation 2015
Abbreviated titleACRA 2015
Internet address

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