Title: Representing Feature Location Uncertainties in Spherical Images
Authors: Krolla, Bernd
Bleser, Gabriele
Cui, Yan
Stricker, Didier
Citation: WSCG 2013: Full Papers Proceedings: 21st International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision in cooperation with EUROGRAPHICS Association, p. 187-194.
Issue Date: 2013
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: http://wscg.zcu.cz/WSCG2013/!_2013-WSCG-Full-proceedings.pdf
ISBN: 978-80-86943-74-9
Keywords: sférické zobrazování;vizualizace nejistoty
Keywords in different language: spherical imaging;uncertainity visualization
Abstract: Pose uncertainty estimation of calibrated cameras is a common task in the field of computer vision and uses location uncertainties of image features. For spherical cameras, those uncertainties cannot be optimally described using conventional latitude-longitude representation. Increasing distortions close to the poles of the spherical coordinate system prevent a suitable description through Gaussians. To overcome this limitation, we present a consistent location uncertainty representation for spherical image features: Our approach is based on normal vectors in Cartesian space and applicable to any kind of camera with convex projection surfaces, such as catadioptric and spherical systems. We compare its performance against latitude-longitude representation by estimating camera pose uncertainties through first order error propagation in a weighted least squares pose estimation scenario. Our experiments on synthetic and real data show that the proposed approach delivers consistent results outperforming conventional latitude-longitude representation.
Rights: © Václav Skala - UNION Agency
Appears in Collections:WSCG 2013: Full Papers Proceedings

Files in This Item:
File Description SizeFormat 
Krolla.pdfPlný text4,06 MBAdobe PDFView/Open

Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/10609

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.