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Mobile Camera Localization Using Apollonius Circles and Virtual Landmarks

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Abstract

We investigate the localization of a camera subject to a planar motion with horizontal optical axis in the presence of known vertical landmarks. Under these assumptions, a calibrated camera can measure the distance to the viewed landmarks. We propose to replace the trilateration method by intersecting a pair of Chasles-Apollonius circles. In the case of square pixels but unknown focal length we introduce a new method to recover the camera position from one image with three vertical landmarks. To this end we consider virtual landmarks and Apollonius-like circles. We extend this method in order to deal with an unknown principal point by using four landmarks.

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Authors and Affiliations

  1. Department of Engineering, Karel de Grote-Hogeschool, Antwerp, Belgium

    Rudi Penne, Luc Mertens & Jelle Veraart

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  1. Rudi Penne
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  2. Luc Mertens
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  3. Jelle Veraart
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Correspondence to Rudi Penne.

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Penne, R., Mertens, L. & Veraart, J. Mobile Camera Localization Using Apollonius Circles and Virtual Landmarks. J Intell Robot Syst 58, 287–308 (2010). https://doi.org/10.1007/s10846-009-9375-1

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  • DOI: https://doi.org/10.1007/s10846-009-9375-1

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