The effect of different parameterisations in incremental structure from motion

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

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)

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 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 & Automation Association Inc
Pages52-60
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
http://www.araa.asn.au/conferences/acra-2015/

Conference

ConferenceAustralasian Conference on Robotics and Automation 2015
Abbreviated titleACRA 2015
CountryAustralia
CityCanberra
Period2/12/154/12/15
Internet address

Cite this

Polok, L., Lui, V. W. H., Ila, V., Drummond, T. W., & Mahony, R. E. (2015). The effect of different parameterisations in incremental structure from motion. In R. Mahony, J. Kim, & H. Li (Eds.), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia (pp. 52-60). Canberra ACT Australia: Australian Robotics & Automation Association Inc.
Polok, Lukas ; Lui, Vincent Wen Han ; Ila, Viorela ; Drummond, Thomas William ; Mahony, Robert E. / The effect of different parameterisations in incremental structure from motion. Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. editor / Robert Mahony ; Jonghyuk Kim ; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. pp. 52-60
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title = "The effect of different parameterisations in incremental structure from motion",
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.",
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year = "2015",
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pages = "52--60",
editor = "Robert Mahony and Jonghyuk Kim and Hongdong Li",
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Polok, L, Lui, VWH, Ila, V, Drummond, TW & Mahony, RE 2015, The effect of different parameterisations in incremental structure from motion. in R Mahony, J Kim & H Li (eds), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Australian Robotics & Automation Association Inc, Canberra ACT Australia, pp. 52-60, Australasian Conference on Robotics and Automation 2015, Canberra, Australia, 2/12/15.

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 proceedingConference PaperResearchpeer-review

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T1 - The effect of different parameterisations in incremental structure from motion

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AU - Mahony, Robert E

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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.

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BT - Australasian Conference on Robotics and Automation, ACRA 2015

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Polok L, Lui VWH, Ila V, Drummond TW, Mahony RE. The effect of different parameterisations in incremental structure from motion. In Mahony R, Kim J, Li H, editors, Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Canberra ACT Australia: Australian Robotics & Automation Association Inc. 2015. p. 52-60