UvA-DARE is a service provided by the library of the University of Amsterdam (https://dare.uva.nl)
UvA-DARE (Digital Academic Repository)
Intrinsic statistical techniques for robust pose estimation
Dubbelman, G.
Publication date
2011
Link to publication
Citation for published version (APA):
Dubbelman, G. (2011). Intrinsic statistical techniques for robust pose estimation.
General rights
It is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s) and/or copyright holder(s), other than for strictly personal, individual use, unless the work is under an open content license (like Creative Commons).
Disclaimer/Complaints regulations
If you believe that digital publication of certain material infringes any of your rights or (privacy) interests, please let the Library know, stating your reasons. In case of a legitimate complaint, the Library will make the material inaccessible and/or remove it from the website. Please Ask the Library: https://uba.uva.nl/en/contact, or a letter to: Library of the University of Amsterdam, Secretariat, Singel 425, 1012 WP Amsterdam, The Netherlands. You will be contacted as soon as possible.
C. Altafini. The de casteljau algorithm on SE(3). Lecture Notes in Control and
Informa-tion Sciences, 258:23–34, 2000.
A. Angeli, D. Filliat, S. Doncieux, and J. Meyertrech. A Fast and Incremental Method for Loop-closure Detection Using Bags of Visual Words. IEEE Transactions On Robotics,
Special Issue on Visual SLAM, 2008.
T. Bailey and H. Durrant-Whyte. Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms. Robotics and Automation Magazine, June 2006a.
T. Bailey and H. Durrant-Whyte. Simultaneous Localisation and Mapping (SLAM): Part II State of the Art. Robotics and Automation Magazine, 13(3):108–117, September 2006b.
T. Bailey, J. Nieto, J. Guivant, M. Stevens, and E. Nebot. Consistency of the EKF-SLAM Algorithm. In IEEE/RSJ Conference on Itelligent Robots and Systems, 2006a.
T. Bailey, J. Nieto, and E. Nebot. Consistency of the FastSLAM algorithm. In IEEE
International Conference on Robotics and Automation, pages 424–429, 2006b. T.D. Barfoot. Online visual motion estimation using FastSLAM with SIFT features. In
IEEE/RSJ Intelligent Robots and Systems, pages 579–585, 2005.
H. Bay, A. Ess, T. Tuytelaars, and L. Van Gool. SURF: Speeded Up Robust Features.
Computer Vision and Image Understanding, 110(3):346–359, 2008.
E. Begelfor and M. Werman. Affine Invariance Revisited. In IEEE Computer Society
Conference on Computer Vision and Pattern Recognition, pages 2087 – 2094, 2006. C.M. Bishop. Pattern Recognition and Machine Learning, volume 1 of Information
Sci-ence and Statistics. Springer, October 2007.
O. Booij, Z. Zivkovic, and B. Kr¨ose. Sampling in image space for vision based SLAM. In
Robotics: Science and Systems Conference, Inside Data Association Workshop, 2008. M. Bosse, P. M. Newman, J.J. Leonard, and S. Teller. SLAM in Large-scale Cyclic
Environments using the Atlas Framework. International Journal on Robotics Research, 23s(12):December, 11131139 2004.
146 BIBLIOGRAPHY
S.R. Bus and J.P. Fillmore. Spherical averages and applications to spherical splines and interpolation. ACM Transactions on Graphics, 20(2):95 – 126, 2001.
D. Capel. An effective Bail-out test for RANSAC consensus scoring. In BMVC, pages 629–638, 2005.
J. A. Castellanos, J. Neira, and J. D. Tardos. Limits to the consistency of ekf-based slam. In 5th IFAC Symp. on Intelligent Autonomous Vehicles, July 2004.
J.A. Castellanos, R. Martinez-Cantin, J.D. Tardos, and J. Neira. Robocentric map joining: Improving the consistency of EKF-SLAM. Robotics and Autonomous Systems, 55:21– 29, 2007.
O. Chum and J. Matas. Matching with PROSAC Progressive Sample Consensus. In IEEE
Computer Society Conference on Computer Vision and Pattern Recognition, pages 220 – 226, 2005.
O. Chum and J. Matas. Optimal Randomized RANSAC. IEEE Transactions on Pattern
Analysis and Machine Intelligence, 30(8):1472 – 1482, 2008.
O. Chum, J. Matas, and J. Kittler. Locally Optimized RANSAC. Lecture Notes in
Com-puter Science, 2781:236–243, 2003.
D. Comaniciu and P. Meer. Mean Shift: A Robust Approach Toward Feature Space Analysis. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24(5): 603619, May 2002.
D. Comaniciu, V. Ramesh, and P. Meer. The Variable Bandwidth Mean Shift and Data-driven Scale Selection. In IEEE International Conference on Computer Vision, vol-ume 1, pages 438 – 445, 2001.
A.I. Comport, E. Malis, and P. Rives. Accurate Quadrifocal Tracking for Robust 3D Visual Odometry. In IEEE International Conference on Robotics and Automation, pages 40–45, April 2007.
J. Costa and A. O. Hero. Statistics and Analysis of Shapes, chapter Learning Intrinsic Dimension and Entropy of High-Dimensional Shape Spaces, pages 231–252. MA: Birkhauser, Cambridge, 2006.
H.F. Cullen. Introduction to General Topology. Heath, Boston, 1967.
A.J. Davison, I. Reid, N. Molton, and O. Stasse. MonoSLAM: Real-Time Single Camera SLAM. IEEE Transactions on Pattern Analysis and Machine Intelligence, 29(6):1052 – 1067, 2007.
M. Perdigao do Carmo. Riemannian Geometry. Mathematics: Theory and Applications. Birkh¨auser,1stedition, January 1992.
G. Dubbelman and F. Groen. Bias Reduction for Stereo Based Motion Estimation with Applications to Large Scale Visual Odometry. In IEEE Computer Society Conference
M. Eisenberg and R. Guy. A proof of the hairy ball theorem. The American Mathematical
Monthly, 86(7):571574, 1979.
P. Elinas, R. Sim, and J.J. Little. σSLAM: Stereo Vision SLAM Using the Rao-Blackwellised Particle Filter and a Novel Mixture Proposal Distribution. In IEEE
In-ternational Conference on Robotics and Automation, pages 1564–1570, 2006.
C. Engels, H. Stew´enius, and D. Nist´er. Bundle Adjustment Rules. Photogrammetric
Computer Vision, 2006.
I. Esteban, J. Dijk, and F.C.A.. Groen. FIT3D toolbox: multiple view geometry and 3D reconstruction for matlab. In SPIE International Symposium on Security & Defence
Europe, 2010.
R. M. Eustice, H. Singh, and J. J. Leonard. Exactly Sparse Delayed-State Filters for View-Based SLAM. IEEE Transactions on Robotics, 22(6):1100–1114, 2006. O. Faugeras. Three-Dimensional Computer Vision. MIT Press, November 1993.
M. A. Fischler and R. C. Bolles. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Communications of
the ACM, 24(6):381 – 395, June 1981.
P.T. Fletcher and S. Joshi. Riemannian Geometry for the Statistical Analysis of Diffusion Tensor Data. Signal Processing, 87(2):250–262, 2007.
Y. Furukawa and J. Ponce. Accurate, Dense, and Robust Multi-View Stereopsis. In IEEE
Computer Society Conference on Computer Vision and Pattern Recognition, July 2007. A. Goh and R. Vidal. Clustering and Dimensionality Reduction on Riemannian Mani-folds. In IEEE Computer Society Conference on Computer Vision and Pattern
Recog-nition, pages 1 – 7, 2008.
G. H. Golub and C. F. Van Loan. Matrix Computations. Johns Hopkins Studies in Math-ematical Sciences. The Johns Hopkins University Press, 3rd edition, 1996.
R. I. Hartley. In Defense of the Eight-Point Algorithm. IEEE Transactions on Pattern
Analysis and Machine Intelligence, 19(6):580 – 593, 1997.
R. I. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, ISBN: 0521540518, second edition, 2004.
J. Heikkil¨a and O. Siv´en. A Four-Step Camera Calibration Procedure with Implicit Image Correction. In IEEE Computer Society Conference on Computer Vision and Pattern
Recognition, pages 1106–1112, 1997.
U. Helmke, K. H¨uper, P.Y. Lee, and J. Moore. Essential Matrix Estimation Using Gauss-Newton Iterations on a Manifold. International Journal of Computer Vision, 74(2): 117–136, August 2007.
H. Karcher. Riemannian center of mass and mollifier smoothing. Communications on
148 BIBLIOGRAPHY
W.S. Kendall. Probability, Convexity, and Harmonic Maps with Small Image I: Unique-ness and Fine Existence. Proceedings of the London Mathematical Society, 61(2): 371–406, 1990.
K. Konolige and M. Agrawal. FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping. IEEE Transactions on Robotics, 24(5):1066–1077, October 2008. K. Konolige, M. Agrawal, and J. Sol`a. Large Scale Visual Odometry for Rough Terrain.
In International Symposium on Research in Robotics, 2007.
K. Konolige, J. Bowman, J.D. Chen, P. Mihelich, M. Calonder, V. Lepetit, and P. Fua. View-based Maps. International Journal of Robotics Research, 29(8), 2010.
J. Koˇseck´a, Y. Ma, and S. Sastry. Optimization Criteria, Sensitivity and Robustness of Motion and Structure Estimation. Lecture Notes in Computer Science, 1883:166–182, 2000.
J.J. Leonard and H.F. Durrant-whyte. Simultaneous Map Building and Localization for an Autonomous Mobile Robot. In IEEE/RSJ Intelligent Robots and Systems, page 14421447, 1991.
A. Levin and R Szeliski. Visual odometry and map correlation. In IEEE Conference on
Computer Vision and Pattern Recognition, volume 1, pages 611 – 618, June 2004. H. C. Longuet-Higgins. A Computer Algorithm for Reconstructing a Scene from Two
Projections. Nature, 293:133 – 135, September 1981.
M.I.A. Lourakis and A.A. Argyros. SBA: A Software Package for Generic Sparse Bundle Adjustment. ACM Transactions on Mathematical Software, 36(1):1–30, 2009. D. G. Lowe. Distinctive Image Features from Scale-invariant Keypoints. International
Journal of Computer Vision, 60(2):91–110, 2004.
Y. Ma, J. Koˇseck´a, and S. Sastry. Motion Estimation in Computer Vision: Optimization on Stiefelmanifolds. In IEEE Conference on Decision and Control, volume 4, pages 3751 – 3756, 1998.
Y. Ma, J. Koˇseck´a, and S. Sastry. Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation. International Journal of Computer Vision, 44(3): 219–249, 2001.
M. Maimone, Y. Cheng, and L. Matthies. Two years of Visual Odometry on the Mars Exploration Rovers: Field Reports. Journal of Field Robotics, 24(3):169 – 186, March 2007.
K.V.M. Mardia and P.E. Jupp. Directional Statistics. John Wiley and Sons Ltd., 2nd edition, 2000.
J. Matas and O. Chum. Randomized RANSAC with Td,d test. image and Vision
Com-puting, 22(10):837842, 2004.
J. Matas and O. Chum. Randomized RANSAC with Sequential Probability Ratio Test. In
B. Matei, P. Meer, and D. Tyler. Performance Assessment by Resampling: Rigid Motion Estimators. Empirical Evaluation Techniques in Computer Vision, art. K. Bowyer and P.J. Phillips eds. IEEE CS Press, 1998.
B. C. Matei and P. Meer. Estimation of Nonlinear Errors-in-Variables Models for Com-puter Vision Applications. IEEE Transactions on Pattern Analysis and Machine
Intel-ligence, 28(10):1537 – 1552, October 2006.
M. Montemerlo and S. Thrun. Simultaneous Localization and Mapping with Unknown Data Association using FastSLAM. In IEEE International Conference on Robotics and
Automation, 2002.
M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit. FastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges. In Proceedings of the Sixteenth International Joint Conference on Artificial
Intelligence (IJCAI), 2003.
P. Newman, D. Cole, and K. Ho. Outdoor SLAM using Visual Appearance and Laser Ranging. In IEEE International Conference on Robotics and Automation, 2006. D. Nist´er. An Efficient Solution to the Five-Point Relative Pose Problem. IEEE
Transac-tions on Pattern Analysis and Machine Intelligence, 26(6):756–777, 2004.
D. Nist´er. Preemptive RANSAC for Live Structure and Motion Estimation. Machine
Vision and Applications, 16(5):321–329, November 2005.
D. Nist´er, O. Naroditsky, and J. Bergen. Visual Odometry. In IEEE Computer Society
Conference on Computer Vision and Pattern Recognition, volume 1, pages 652–659, 2004.
D. Nist´er, O. Naroditsky, and J. Bergen. Visual Odometry for Ground Vehicle Applica-tions. Journal of Field Robotics, 23(1):3–20, January 2006.
C.F. Olson, L.H. Matthies, M. Schoppers, and M.W. Maimoneb. Rover Navigation using Stereo Ego-motion. Robotics and Autonomous Systems, 43(4):215–229, June 2003. F.C. Park. Distance Metrics on the Rigid-Body Motions with Applications to Mechanism
Design. Transactions of the ASME, 117:48–54, March 1995.
X. Pennec. Intrinsic Statistics on Riemannian Manifolds: Basic Tools for Geometric Measurements. Journal of Mathematical Imaging and Vision, 25(1):127 – 154, July 2006.
X. Pennec and N. Ayache. Uniform Distribution, Distance and Expectation Problems for Geometric Features Processing. Journal of Mathematical Imaging and Vision, 9(1): 49–67, 1998.
X. Pennec, C. R. G. Guttmann, and J. Thirion. Feature-based registration of medical images: Estimation and validation of the pose accuracy. Lecture Notes in Computer
150 BIBLIOGRAPHY
R. Raguram, J. Frahm, and M. Pollefeys. A Comparative Analysis of RANSAC Tech-niques Leading to Adaptive Real-Time Random Sample Consensus. In European
Con-ference on Computer Vision, pages 500 – 513, 2008.
R. Raguram, J. Frahm, and M. Pollefeys. Exploiting Uncertainty in Random Sample Consensus. In International Conference on Computer Vision, October 2009.
P. L. Rosin. Robust Pose Estimation. IEEE Transaction on Systems, Man, and
Cybernet-ics, 29(2):297–303, April 1999.
D. Scharstein and R. Szeliski. A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms. International Journal of Computer Vision, 47(1-3):7–42, April 2002.
S. Se, D. Lowe, and J. Little. Mobile Robot Localization and Mapping with Uncertainty using Scale-Invariant Visual Landmarks. The International Journal of Robotics
Re-search, 21(8):735–758, August 2002.
J. M. Selig. Geometrical Methods in Robotics. Springer, 1996.
R.C. Smith and P. Cheeseman. On the representation and estimation of spatial uncertainty.
The International Journal of Robotics Research, 5(4):5668, 1986.
R.C. Smith, M. Self, and P. Cheeseman. A Stochastic Map for Uncertain Spatial Relation-ships. In Proceedings International Symposium on Robotics Research, pages 467–474, 1988.
N. Snavely, S. M. Seitz, and R. Szeliski. Modeling the World from Internet Photo Collec-tions. International Journal of Computer Vision, 80(2):189 – 210, November 2008. H. Strasdat, J.M.M. Montiel, and A. J. Davison. Real-Time Monocular SLAM: Why
Filter? In IEEE International Conference on Robotics and Automation, 2010.
C. Strecha, W. von Hansen, L. van Gool, P. Fua, and U. Thoennessen. On Benchmarking Camera Calibration and Multi-View Stereo for High Resolution Imagery. In IEEE
Conference on Computer Vision and Pattern Recognition, pages 1–8, 2008.
R. Subbarao and P. Meer. Nonlinear Mean Shift for Clustering over Analytic Manifolds. In IEEE Computer Society Conference on Computer Vision and Pattern Recognition, volume 1, pages 1168 – 1175, 2006.
R. Subbarao and P. Meer. Nonlinear Mean Shift over Riemannian Manifolds.
Interna-tional Journal of Computer Vision, 84(1):1–20, 2009.
R. Subbarao, Y. Genc, and P. Meer. Nonlinear Mean Shift for Robust Pose Estimation. In
IEEE Workshop on Applications of Computer Vision, pages 6–6, February 2007. R Subbarao, Y Genc, and P. Meer. Robust Unambiguous Parametrization of the Essential
Manifold. In IEEE Conference on Computer Vision and Pattern Recognition, pages 1–8, June 2008.
N. Sunderhauf, K. Konolige, S. Lacroix, and P. Protzel. Visual Odometry using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle. Tagungsband Autonome
Mo-bile Systeme, art. Levi and Schanz and Lafrenz and Avrutin, 2005.
S. Thompson and S. Kagami. Revising Stereo Vision Maps in Particle Filter Based SLAM using Localisation Confidence and Sample History. In 2nd International Conference
on Autonomous Robots and Agents, December 2004.
S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. The MIT Press, 2005. B.J. Tordoff and D.W. Murray. Guided-MLESAC: Faster Image Transform Estimation by
Using Matching Priors. IEEE Transactions on Pattern Analysis and Machine
Intelli-gence, 27(10):1523–1535, October 2005.
P.H.S. Torr and A. Zisserman. MLESAC: A new robust estimator with application to estimating image geometry. Computer Vision and Image Understanding, 78(1):138– 156, April 2000.
B. Triggs, P. F. McLauchlan, R. I. Hartley, and A. W. Fitzgibbon. Bundle Adjustment - A Modern Synthesis. In International Workshop on Vision Algorithms: Theory and
Practice, pages 298 – 372, 1999.
L.W. Tu. An Introduction to Manifolds. Universitext. Springer, 1 edition, 2007.
O. Tuzel, R. Subbarao, and P. Meer. Simultaneous Multiple 3D Motion Estimation via Mode Finding on Lie Groups. In Proceedings of the Tenth IEEE International
Confer-ence on Computer Vision, volume 1, pages 18 – 25, October 2005.
O. Tuzel, F. Porikli, and P. Meer. Pedestrian detection via classification on Riemannian manifolds. IEEE Transactions on Pattern Analysis and Machine Intelligence, 30(10): 1713–1727, 2008.
A. Webb. Statistical Pattern Recognition. Wiley, 2002.
Z. Zhang. A Flexible New Technique for Camera Calibration. IEEE Transactions on
Pattern Analysis and Machine Intelligence, 22(11):1330–1334, 2000.
Z. Zhu, T. Oskiper, S. Samarasekera, R. Kumar, and H.S. Sawhney. Ten-fold Improve-ment in Visual Odometry Using Landmark Matching. In IEEE International
