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Geometry of Vanishing Points and its Application to External Calibration and Realtime Pose Estimation

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  • Kim, ZuWhan

Abstract

Vanishing points of an image contain important information for camera calibration. Various calibration techniques have been introduced using the properties of vanishing points to find intrinsic and extrinsic calibration parameters. This paper revisits the vanishing points geometry and suggests a simple extrinsic parameter estimation algorithm which uses a single rectangle. The comparison with the Camera Calibration Toolbox for Matlab ® shows that the proposed algorithm is highly competitive. The suggested technique is also applied to a realtime pose estimation for an unmanned air vehicle’s navigation in an urban environment. We present a realtime vanishing point extraction algorithm and a pose estimation procedure. The experimental result on a real flight video clip is presented.

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  • Kim, ZuWhan, 2006. "Geometry of Vanishing Points and its Application to External Calibration and Realtime Pose Estimation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1m71z3t3, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt1m71z3t3
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    Cited by:

    1. Lu, Xiao-Yun & Kim, ZuWhan & Cao, Meng & Varaiya, Pravin & Horowitz, Roberto, 2010. "Deliver a Set of Tools for Resolving Bad Inductive Loops and Correcting Bad Data," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9kj122bt, Institute of Transportation Studies, UC Berkeley.
    2. Cao, Meng, 2009. "Mobile and Stationary Computer Vision based Traffic Surveillance Techniques for Advanced ITS Applications," University of California Transportation Center, Working Papers qt3kj790ws, University of California Transportation Center.

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    Keywords

    Air Transportation;

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