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dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorAlberich Carramiñana, Maria
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.citationAlenyà, Guillem; Alberich-Carramiñana, Maria; Torras, Carme. "Depth from the visual motion of a planar target induced by zooming". A: 2007 IEEE International Conference on Robotics and Automation (ICRA), Roma, Italia, 2007. IEEE, 2007, p. 4727-4732.
dc.description.abstractRobot egomotion can be estimated from an acquired video stream up to the scale of the scene. To remove this uncertainty (and obtain true egomotion), a distance within the scene needs to be known. If no a priori knowledge on the scene is assumed, the usual solution is to derive “in some way” the initial distance from the camera to a target object. This paper proposes a new, very simple way to obtain such a distance, when a zooming camera is available and there is a planar target in the scene. Similarly to “two-grid calibration” algorithms, no estimation of the camera parameters is required, and no assumption on the optical axis stability between the different focal lengths is needed. Quite the reverse, the non stability of the optical axis between the different focal lengths is the key ingredient that enables to derive our depth estimate, by applying a result in projective geometry. Experiments carried out on a mobile robot platform show the promise of the approach.
dc.format.extentp. 4727 - 4732
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
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.titleDepth from the visual motion of a planar target induced by zooming
dc.typeConference report
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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