Recursive Camera-Motion Estimation With the Trifocal Tensor
- 18 September 2006
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
- Vol. 36 (5) , 1081-1090
- https://doi.org/10.1109/tsmcb.2006.874133
Abstract
In this paper, an innovative extended Kalman filter (EKF) algorithm for pose tracking using the trifocal tensor is proposed. In the EKF, a constant-velocity motion model is used as the dynamic system, and the trifocal-tensor constraint is incorporated into the measurement model. The proposed method has the advantages of those structure- and-motion-based approaches in that the pose sequence can be computed with no prior information on the scene structure. It also has the strengths of those model-based algorithms in which no updating of the three-dimensional (3-D) structure is necessary in the computation. This results in a stable, accurate, and efficient algorithm. Experimental results show that the proposed approach outperformed other existing EKFs that tackle the same problem. An extension to the pose-tracking algorithm has been made to demonstrate the application of the trifocal constraint to fast recursive 3-D structure recoveryKeywords
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