Reconstruction of 3D flight trajectories from ad-hoc camera networks

Autor:	Li, Jingtong, Murray, Jesse, Ismaili, Dorina, Schindler, Konrad, Albl, Cenek
Rok vydání:	2020
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition
Druh dokumentu:	Working Paper
Popis:	We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach enables robust and accurate outside-in tracking of dynamically flying targets, with cheap and easy-to-deploy equipment. We show that, in spite of the weakly constrained setting, recent developments in computer vision make it possible to reconstruct trajectories in 3D from unsynchronized, uncalibrated networks of consumer cameras, and validate the proposed method in a realistic field experiment. We make our code available along with the data, including cm-accurate ground-truth from differential GNSS navigation. Comment: IROS 2020 camera ready version
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2003.04784 Zobrazit plný text záznamu View this record from Arxiv