| Presentation | 2010-05-13 Visual Localization for First-person Vision System Shuntaro YAMAZAKI, Masaaki MOCHIMARU, Takeo KANADE, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We describe a method of image-based localization suitable for the First-Person Vision system composed of a single head-mounted video camera. Assuming the camera motion is within a known environment, mapping and localization are conducted in two separate processes. In mapping, the 3D structure of the environment is reconstructed from uncalibrated images using a Structure-from-Motion technique. The structure is then refined by a multi-view stereo algorithm. Each point in the reconstructed 3D point cloud are associated with the corresponding image features, composing a set of triplets of 3D point, image feature, and viewing direction. The mapping process is time consuming and conducted in advance. Localization, on the other hand, can be at an interactive speed taking advantage of the precomputed triplets. First, image features are extracted given an image acquired by a head-mounted camera. The corresponding points in the environment are sought using the features as query keys, and matched to estimate the camera pose in the environment. We demonstrate that a large environment map is created using more than 500 images, and the localization is with centimeter accuracy and at an interactive speed. We believe our sensing system is simple and accurate, and therefore suitable for activity modeling and behavior understanding in everyday life environment. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | First-Person Vision / mapping / localization / Structure-from-Motion / Multi-View Stereo / SIFT / realtime |
| Paper # | IE2010-27,PRMU2010-15,MI2010-15 |
| Date of Issue |
| Conference Information | |
| Committee | MI |
|---|---|
| Conference Date | 2010/5/6(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Medical Imaging (MI) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Visual Localization for First-person Vision System |
| Sub Title (in English) | |
| Keyword(1) | First-Person Vision |
| Keyword(2) | mapping |
| Keyword(3) | localization |
| Keyword(4) | Structure-from-Motion |
| Keyword(5) | Multi-View Stereo |
| Keyword(6) | SIFT |
| Keyword(7) | realtime |
| 1st Author's Name | Shuntaro YAMAZAKI |
| 1st Author's Affiliation | National Institute of Advanced Industrial Science and Technology() |
| 2nd Author's Name | Masaaki MOCHIMARU |
| 2nd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
| 3rd Author's Name | Takeo KANADE |
| 3rd Author's Affiliation | National Institute of Advanced Industrial Science and Technology |
| Date | 2010-05-13 |
| Paper # | IE2010-27,PRMU2010-15,MI2010-15 |
| Volume (vol) | vol.110 |
| Number (no) | 28 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |