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IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS

Abstract: 

Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved to be faster, more robust
and accurate than feature based methods on image registration. However, iFMI is restricted to work only when the camera moves in 2D space and has not been applied on omni-cameras images so far. In this work, we extend the iFMI method and apply a motion model to estimate an omnicamera’s pose when it moves in 3D space. In the experiment section, we compare the extended iFMI method against ORB and AKAZE feature based approaches on three datasets, showing different types of environments: office, lawn and urban scenery (MPI-omni dataset). The results show that our method reduces the error of the camera pose estimation two to
three times with respect to the feature registration techniques, while offering lower processing times.

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Paper Details

Authors:
Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger
Submitted On:
18 September 2019 - 11:10pm
Short Link:
Type:
Poster
Event:
Presenter's Name:
Qingwen Xu
Paper Code:
2000
Document Year:
2019
Cite

Document Files

MA-PB-3-xuqw.pdf

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[1] Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger, "IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4698. Accessed: Oct. 29, 2020.
@article{4698-19,
url = {http://sigport.org/4698},
author = {Qingwen Xu; Arturo Gomez Chavez; Heiko Bülow; Andreas Birk; Sören Schwertfeger },
publisher = {IEEE SigPort},
title = {IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS},
year = {2019} }
TY - EJOUR
T1 - IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS
AU - Qingwen Xu; Arturo Gomez Chavez; Heiko Bülow; Andreas Birk; Sören Schwertfeger
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4698
ER -
Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger. (2019). IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS. IEEE SigPort. http://sigport.org/4698
Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger, 2019. IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS. Available at: http://sigport.org/4698.
Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger. (2019). "IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS." Web.
1. Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, Sören Schwertfeger. IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4698