The aim of this work is the estimation and enhancement of a trajectory formed by a moving ToF camera. The camera pose has to be known for each image in order to reconstruct the object in a common reference frame, recorded from multiple views. The quality of the model certainly depends on the quality of the orientation. This work deals with the reachable precision of the camera trajectory and wi...

In this paper we address the problem of visual motion estimation (visual odometry) from a single vehicle mounted camera. One of the basic issues of visual odometry is relative scale estimation. We propose a method to compute locally optimal relative scales by minimizing the reprojection error using windowed bundle adjustment. We introduce a minimal parameterization of the bundle adjustment prob...

Local bundle adjustment (LBA) has recently been introduced to estimate the geometry of image sequences taken by a calibrated camera. Its advantage over standard (global) bundle adjustment is a great reduction of computational complexity, which allows real-time performances with a similar accuracy. However, no confidence measure on the LBA result such as uncertainty or covariance has yet been in...

This work deals with the problem of estimating the trajectory of an autonomous rover by passive stereo vision only (visual odometry). The proposed method relies on the tracking of pointwise image features and on the estimation of the robot motion by robust bundle adjustment of the stereo matched features, before and after the motion. Preliminary results from the application of the algorithm bot...

Bundle ajustment is used to obtain accurate visual reconstructions by minimizing the reprojection error. The coordinate frame ambiguity, or more generality the gauge freedoms, has been dealt with in different manners. It has often been reported that standard bundle adjustment algorithms were not gauge invariant: two iterations within different gauges can lead to geometrically very different res...

Local Bundle Adjustments were recently introduced for visual SLAM (Simultaneous Localization and Mapping). In Monocular Visual SLAM, the scale factor is not observable and the reconstruction scale drifts as time goes by. On long trajectory, this problem makes absolute localisation not usable. To overcome this major problem, data fusion is a possible solution. In this paper, we describe Weighted...

CBERS-02B was the first high resolution earth observation satellite in China, which adopted linear array push-broom sensor. The nadir ground resolution of the on board HR camera was 2.36 m. However, the accuracies of the on-board GPS receiver and star tracker were very limited due to the technical restrictions. The accuracy of direct geo-referencing by the on-board measurements of position and ...

Abstract. The growing deployment of multi-head camera systems encouraged the emergence specific processing algorithms, able to face challenges posed by slanted view geometry. Such multi-camera are rigidly tied their manufacturers hence exploitation this internal constraint should be further exploited. Several approaches have been proposed deal with orientation constraints, aim reducing number u...