Robotics Institute Seminar,
March 18
Time
and Place | Seminar Abstract | Speaker
Biography | Speaker Appointments
Real-time Estimation of Camera Motion and
Other Endeavors in Structure from Motion
David Nister
Assistant Professor
Center for
Visualization and Virtual Environments, Department
of Computer Science, University of Kentucky,
Time and Place |
Mauldin
Auditorium (NSH 1305)
Refreshments
Talk
A
system that estimates the motion of a single moving camera or stereo head based
on video input will be presented. The system operates in real-time with low
delay. The front end of the system is a feature tracker. Point features are
matched between pairs of frames and linked into image trajectories at video
rate. Robust estimates of the camera motion are then produced from the feature
tracks using a geometric hypothesize-and-test architecture. No prior knowledge
of the scene or the camera motion is necessary. Applications include navigation
and robotics, augmented reality and scene reconstruction. The image-based
information can also be used in conjunction with information from other sources
such as GPS, inertia sensors, wheel encoders, etc. The pose estimation method
has been applied successfully to video from aerial, automotive and handheld
platforms.
Results
with an autonomous ground vehicle will be shown, including examples of camera
trajectories estimated purely from images over previously unseen distances and
periods of time. The system will be shown processing real-time, and applications
to scene reconstruction discussed.
Speaker Biography |
David Nister received the
PhD degree in computer vision, numerical analysis and computing science from
the Royal Institute of Technology (KTH),
For appointments, please contact Janice Brochetti (janiceb+@cs.cmu.edu
).
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.