Camera Matchmoving in Unprepared, Unknown Environments
Manolis Lourakis, Antonis Argyros · 2005
y are being acquired. Furthermore, it does not rely upon the presence in the environment of fiducial markers or special calibration objects. A brief overview of our approach is given in the next section. More detailed descriptions can be found in [1] and online at http://www. ics.forth.gr/lourakis/camtrack/. THE APPROACH Our method is based on a feature-based 3D plane tracking technique, which permits the estimation of the homographies induced by a 3D plane between successive image pairs. At the core of plane tracking lies a homography "chaining" operation that is applied to triplets of consecutive images through a sliding time window and exploits the constraint that all images of a planar surface acquired by a rigidly moving observer depend upon the same 3D geometry. Since the tracked plane is not required to be physically present in the scene, a virtual one can be used instead. Plane tracking is achieved by matching between images the 2D projections of points from all over the scen