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dc.contributor.authorAlberich Carramiñana, Maria
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorMartinez, Elisa
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada I
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationAlberich-Carramiñana, Maria; Alenyà, Guillem; Andrade-Cetto, Juan; Martinez, Elisa; Torras, Carme. "Recovering the epipolar direction from two affine views of a planar object". Computer vision and image understanding, 2008, vol. 112, núm. 2, p. 195-209.
dc.description.abstractThe mainstream approach to estimate epipolar geometry from two views requires matching the projections of at least 4 non-coplanar points in the scene, assuming a full projective camera model. Our work deviates from this in three respects: affine camera, planar scene and active contour tracking instead of point matching. Using results in Projective Geometry, we prove that the affine epipolar direction can be recovered provided camera motion is free of cyclorotation. A setup consisting of a Staubli robot holding a planar object in front of a camera is used to obtain calibrated image streams, which are used as ground truth to evaluate the performance of the method, and to test its limiting conditions in practice. The fact that our method (applicable to planar, poorly textured scenes) and the Gold Standard algorithm (applicable to highly textured scenes with significant relief) produce comparable results shows the potential of our proposal.
dc.format.extentp. 195-209
dc.publisherAcademic Press
dc.relation.ispartofComputer vision and image understanding
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subject.lcshComputer vision
dc.subject.otherAffine epipolar direction estimation
dc.subject.otherActive contours
dc.subject.otherPrecision analysis
dc.titleRecovering the epipolar direction from two affine views of a planar object
dc.subject.lemacVisió per ordinador
dc.contributor.groupUniversitat Politècnica de Catalunya. EGSA - Equacions Diferencials, Geometria, Sistemes Dinàmics i de Control, i Aplicacions
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.rights.accessOpen Access

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