Relations Between Reconstructed 3D Entities

Pugeault, N. , Kalkan, S., Wörgötter, F., Baseski, E. and Krüger, N. (2008) Relations Between Reconstructed 3D Entities. In: 3rd International Conference on Computer Vision Theory and Applications (VISAPP 2008), Funchal, Madeira, Portugal, 22-25 Jan 2008, pp. 186-193. ISBN 9789898111210

Abstract

In this paper, we first propose an analytic formulation for the position's and orientation's uncertainty of local 3D line descriptors reconstructed by stereo. We evaluate these predicted uncertainties with Monte Carlo simulations, and study their dependency on different parameters (position and orientation). In a second part, we use this definition to derive a new formulation for inter-features distance and coplanarity. These new formulations take into account the predicted uncertainty, allowing for better robustness. We demonstrate the positive effect of the modified definitions on some simple scenarios.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Pugeault, Dr Nicolas
• Authors: Pugeault, N., Kalkan, S., Wörgötter, F., Baseski, E., and Krüger, N.
• College/School: College of Science and Engineering > School of Computing Science
• ISBN: 9789898111210