Robotics and Computer Vision Lab

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저 자 Jean-Charles Bazin, C. Demoncreaux, P. Vasseur, In So Kweon
학 회 Computer Vision and Image Understanding
논문일시(Year) 2009
논문일시(Month) 12
Previous works have shown that catadioptric systems are particularly suited for
egomotion estimation thanks to their large field of view and thus numerous al-
gorithms have already been proposed in the literature to estimate the motion. In
this paper, we present a method for estimating six degrees of freedom camera mo-
tions from central catadioptric images in man-made environments. State-of-the-art
methods can obtain very impressive results. However our proposed system provides
two strong advantages over the existing methods: first, it can implicitly handle the
difficulty of planar/non-planar scenes, and second, it is computationally much less
expensive. The only assumption deals with the presence of parallel straight lines
which is reasonable in a man-made environment. More precisely, we estimate the
motion by decoupling the rotation and the translation. The rotation is computed
by an e±cient algorithm based on the detection of dominant bundles of parallel
catadioptric lines and the translation is calculated from a robust 2-point algorithm.
We also show that the line-based approach allows to estimate the absolute attitude
(roll and pitch angles) at each frame, without error accumulation. The efficiency
of our approach has been validated by experiments in both indoor and outdoor
environments and also by comparison with other existing methods.

List of Articles
60. System-on-Chip Solution of Video Stabilization for CMOS Image Sensors in Hand-Held Devices
Younggeun Kim, Venkata RavisanKar Jayanthi, In So Kweon
IEEE Transactions on Circuits and Systems for Video Technology (CSVT) 2011 / 10
59. Edge directional 2D LMS filter for infrared small target detection
Tae-Wuk Bae, Fei Zhang, In So Kweon
Infrared Physics & Technology 2011 / 11
58. Pushing the Envelope of Modern Methods for Bundle Adjustment
Yekeun Jeong, David Nister, Drew Steedly, Richard Szeliski, In So Kweon
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2012 / 08
57. A Tensor-Based Algorithm for High-Order Graph Matching
O. Duchenne, F. Bach, In So Kweon, J. Ponce
IEEE Transactions on Pattern Analysis and Machine Intelligence 2011 / 12
56. Localization using GPS and VISION aided INS with an Image Database and a Network of a Ground-based ...
Ji-Hoon Choi, Yong-Woon Park, Jae-Bok Song, In So Kweon
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2011 / 08
55. Difference-based image noise modeling using Skellam distribution
Youngbae Hwang, Jun-sik Kim, In So Kweon
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2012 / 07
54. Image Decomposition with Multilabel Context: Algorithms and Applications
Teng Li, Shuicheng Yan, Tao Mei, Xian-Sheng Hua, In So Kweon
IEEE Transaction on Image Processing 2011 / 08
53. Rotation Estimation and Vanishing Point Extraction by Omnidirectional Vision in Urban Environment
Jean-Charles Bazin, Cedric Demoncaux, Pascal Vasseur, In So Kweon
International Journal of Robotics Research 2011 / 08
52. Metric reconstruction of planes utilizing off-the-plane features
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding (CVIU) 2011 / 01
51. Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
Yunsu Bok, Yekeun Jeong, Dong-Geol Choi, In So Kweon
International Journal of Computer Vision (IJCV), vol. 94, no. 1, pp. 36-53 2011 / 08
50. Euclidean structure from confocal conics: Theory and application to camera calibration
Jun-sik Kim, Pierre Gurdjos, In So Kweon
Computer Vision and Image Understanding (CVIU) 2010 / 07
49. Contextual Bag-of-Words for Visual Categorization
Teng Li, Tao Mei, In So Kweon, Xian-Sheng Hua
IEEE Transactions on Circuits and Systems for Video Technology (CSVT) 2010 / 01
48. Robust feature point matching by preserving local geometric consistency
Ouk Choi, In So Kweon
Computer Vision and Image Understanding 2009 / 06
» Motion Estimation by Decoupling Rotation and Translation in Catadioptric Vision
Jean-Charles Bazin, C. Demoncreaux, P. Vasseur, In So Kweon
Computer Vision and Image Understanding 2009 / 12
46. Multi-Video Synopsis: Representing Multiple Videos with a Single Video Sequence
Teng Li, Tao Mei, In So Kweon, Xian-Sheng Hua
Signal Processing 2009 / 12
45. Simultaneous Place and Object Recognition using Collaborative Context Information
Sungho Kim, In So Kweon
Image and Vision Computing 2009 / 05
44. Camera calibration based on arbitrary parallelograms
Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding 2009 / 01
43. Change Detection Using a Statistical Model in an Optimally Selected Color Space
Youngbae Hwang, Jun-sik Kim, In So Kweon
Computer Vision and Image Understanding 2008 / 12
42. Distinctive Similarity Measure for Stereo Matching Under Point Ambiguity
Kukjin Yoon, In So Kweon
Computer Vision and Image Understanding 2008 / 11
41. Object Recognition Using a Generalized Robust Invariant Feature and Gestalt's Law of Proximity and Similarity
Sungho Kim, Kukjin Yoon, In So Kweon
Pattern Recognition 2008 / 02
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