Relations Between Reconstructed 3D entities

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Atıf İçin Kopyala

Pugeault N., Kalkan S., Wörgötter F., Başeski E., Kruger N.

Proceedings of the Third International Conference on Computer Vision Theory and Applications, Funchal, Portekiz, 22 - 25 Ocak 2008, ss.186-193

• Yayın Türü: Bildiri / Tam Metin Bildiri
• Basıldığı Şehir: Funchal
• Basıldığı Ülke: Portekiz
• Sayfa Sayıları: ss.186-193
• Orta Doğu Teknik Üniversitesi Adresli: Hayır

Özet

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.