SIFT-BASED CAMERA LOCALIZATION USING REFERENCE OBJECTS FOR APPLICATION IN MULTI-CAMERA ENVIRONMENTS AND ROBOTICS

摘要

In this contribution, we present a unified approach to improve the localization and the perception of a robot in a new environment by using already installed cameras. Using our approach we are able to localize arbitrary cameras in multi-camera environments while automatically extending the camera network in an online, unattended, real-time way. This way, all cameras can be used to improve the perception of the scene, and additional cameras can be added in real-time, e.g., to remove blind spots. To this end, we use the Scale-invariant feature transform (SIFT) and at least one arbitrary known-size reference object to enable camera localization. Then we apply non-linear optimization of the relative pose estimate and we use it to iteratively calibrate the camera network as well as to localize arbitrary cameras, e.g. of mobile phones or robots, inside a multi-camera environment. We performed an evaluation on synthetic as well as real data to demonstrate the applicability of the proposed approach.