A robust structure and motion replacement for bundle adjustment

Mitchell, Shane, Warren, Michael, McKinnon, David and Upcroft, Ben (2010). A robust structure and motion replacement for bundle adjustment. In: Gordon Wyeth and Ben Upcroft, Proceedings of the Australasian Conference on Robotics and Automation. ACRA 2010: Australasian Conference on Robotics and Automation 2010, Brisbane, Qld., Australia, (). 1-3 December 2010.

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Name Description MIMEType Size Downloads
Author Mitchell, Shane
Warren, Michael
McKinnon, David
Upcroft, Ben
Title of paper A robust structure and motion replacement for bundle adjustment
Conference name ACRA 2010: Australasian Conference on Robotics and Automation 2010
Conference location Brisbane, Qld., Australia
Conference dates 1-3 December 2010
Convener Australian Robotics and Automation Association
Proceedings title Proceedings of the Australasian Conference on Robotics and Automation
Journal name Proceedings of the 2010 Australasian Conference on Robotics and Automation, ACRA 2010
Place of Publication Brisbane, Qld., Australia
Publisher Australian Robotics & Automation Association (ARAA)
Publication Year 2010
Sub-type Fully published paper
ISBN 9780980740417
098074041X
Editor Gordon Wyeth
Ben Upcroft
Total pages 10
Collection year 2011
Language eng
Formatted Abstract/Summary This paper demonstrates the application of a robust form of pose estimation and scene reconstruction using data from camera images. We demonstrate results that suggest the ability of the algorithm to rival methods of RANSAC-based pose estimation polished by bundle adjustment in terms of solution robustness, speed and accuracy, even when given poor initialisations. Our simulated results show the behaviour of the algorithm in a number of novel simulated scenarios reflective of real world cases that show the ability of the algorithm to handle large observation noise and difficult reconstruction scenes. These results have a number of implications for the vision and robotics community, and show that the application of visual motion estimation on robotic platforms in an online fashion is approaching real-world feasibility.
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ
Additional Notes Presented during the Session "Vision and Sensing I".

 
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Created: Mon, 29 Nov 2010, 14:07:38 EST by Dr Benjamin Upcroft on behalf of School of Mechanical and Mining Engineering