Paper Info
Title
Photoconsistent Relative Pose Estimation between a PMD 2D3D-Camera and Multiple Intensity Cameras
Abstract
Active range cameras based on the Photonic Mixer Device (PMD) allow to capture low-resolution depth images of dynamic scenes at high frame rates. To use such devices together with high resolution optical cameras (e.g. in media production) the relative pose of the cameras with respect to each other has to be determined. This task becomes even more challenging, if the camera is to be moved and the scene is highly dynamic.We will present an efficient algorithm for the estimation of the relative pose between a single 2D3D-camera with respect to several optical cameras. The camera geometry together with an intensity consistency criterion will be used to derive a suitable cost function, which will be optimized using gradient descend. It will be shown, how the gradient of the cost function can be efficiently computed from the gradient images of the high resolution optical cameras.We will show, that the proposed method allows to track and to refine the pose of a moving 2D3D-camera for fully dynamic scenes.
Year
DOI
Venue
2008
10.1007/978-3-540-69321-5_27
DAGM-Symposium
Keywords
Field
DocType
camera geometry,gradient image,dynamic scene,high resolution,photoconsistent relative pose estimation,multiple intensity cameras,suitable cost function,cost function,gradient descend,active range camera,high frame rate,optical camera,low resolution,pose estimation
Photonic mixer device,Computer vision,Consistency criterion,Computer science,3D pose estimation,Pose,Ground truth,Frame rate,Artificial intelligence,Media production
Conference
Volume
ISSN
Citations 
5096
0302-9743
2
PageRank 
References 
Authors
0.39
10
3
Name
Order
Citations
PageRank
Christian Beder112413.47
Ingo Schiller21199.74
Reinhard Koch32038170.17