Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Camera localization using trajectories and maps
Year:2014
Research Areas
  • Engineering,
  • Processing and signal analysis
Information
Abstract
We propose a new Bayesian framework for automatically determining the position (location and orientation) of an uncalibrated camera using the observations of moving objects and a schematic map of the passable areas of the environment. Our approach takes advantage of static and dynamic information on the scene structures through prior probability distributions for object dynamics. The proposed approach restricts plausible positions where the sensor can be located while taking into account the inherent ambiguity of the given setting. The proposed framework samples from the posterior probability distribution for the camera position via data driven MCMC, guided by an initial geometric analysis that restricts the search space. A Kullback-Leibler divergence analysis is then used that yields the final camera position estimate, while explicitly isolating ambiguous settings. The proposed approach is evaluated in synthetic and real environments, showing its satisfactory performance in both ambiguous and unambiguous settings.
International
Si
JCR
Si
Title
Ieee Transactions on Pattern Analysis And Machine Intelligence
ISBN
0162-8828
Impact factor JCR
4,795
Impact info
Datos JCR del año 2012
Volume
36
10.1109/TPAMI.2013.243
Journal number
4
From page
684
To page
697
Month
ABRIL
Ranking
29/78 TELECOMMUNICATIONS (SCI); 116/247 ENGINEERING, ELECTRICAL AND ELECTRONIC (SCI)
Participants
  • Autor: Raúl Mohedano Del Pozo (UPM)
  • Autor: Andrea Cavallaro (Queen Mary University of London)
  • Autor: Narciso Garcia Santos (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Tratamiento de Imágenes (GTI)
  • Departamento: Señales, Sistemas y Radiocomunicaciones
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)