Consistent pose uncertainty estimation for spherical cameras

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dc.contributor.authorKrolla, Bernd
dc.contributor.authorGava, Christiano Couto
dc.contributor.authorPagani, Alain
dc.contributor.authorStricker, Didier
dc.contributor.editorSkala, Václav
dc.date.accessioned2017-11-08T07:08:20Z
dc.date.available2017-11-08T07:08:20Z
dc.date.issued2014
dc.description.abstract-translatedIn this work, we discuss and evaluate the reliability of first order uncertainty propagation results in context of spherical Structure from Motion, concluding that they are not valid without restrictions, but depend on the choice of the objective function. We furthermore show that the choice of the widely used geodesic error as objective function for a reprojection error optimization leads to disproportional pose uncertainty results of spherical cameras. This work identifies and outlines alternative objective functions to bypass those obstacles by deducing Jacobian matrices according to the chosen objective functions with subsequent conduction of first order uncertainty propagation. We evaluate the performance of the different objective functions in different optimization scenarios and show that best results for uncertainty propagation are obtained using the Euclidean distance to measure deviations of image points on the spherical image.en
dc.format8 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationWSCG 2014: communication papers proceedings: 22nd International Conference in Central Europeon Computer Graphics, Visualization and Computer Visionin co-operation with EUROGRAPHICS Association, p. 153-160.en
dc.identifier.isbn978-80-86943-71-8
dc.identifier.uriwscg.zcu.cz/WSCG2014/!!_2014-WSCG-Communication.pdf
dc.identifier.urihttp://hdl.handle.net/11025/26410
dc.language.isoenen
dc.publisherVáclav Skala - UNION Agencycs
dc.relation.ispartofseriesWSCG 2014: communication papers proceedingsen
dc.rights@ Václav Skala - UNION Agencycs
dc.rights.accessopenAccessen
dc.subjectpočítačové viděnícs
dc.subject3D rekonstrukcecs
dc.subjectsférické zobrazovánícs
dc.subjectšíření nejistotycs
dc.subjectšíření chybcs
dc.subjectoptimalizace postavení kamerycs
dc.subjectstruktura z pohybucs
dc.subject.translatedcomputer visionen
dc.subject.translated3D reconstructionen
dc.subject.translatedspherical imagingen
dc.subject.translateduncertainty propagationen
dc.subject.translatederror propagationen
dc.subject.translatedcamera pose optimizationen
dc.subject.translatedstructure from motionen
dc.titleConsistent pose uncertainty estimation for spherical camerasen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

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