Topic
Line coordinates
About: Line coordinates is a research topic. Over the lifetime, 138 publications have been published within this topic receiving 1841 citations. The topic is also known as: Line_coordinates.
Papers published on a yearly basis
Papers
TL;DR: A graph-based visual simultaneous localization and mapping (SLAM) system using straight lines as features using a stereo rig as the sole sensor and using two different representations to parameterize 3-D lines, which exhibits better reconstruction performance against a point-based SLAM system in line-rich environments.
Abstract: This paper presents a graph-based visual simultaneous localization and mapping (SLAM) system using straight lines as features. Compared with point features, lines provide far richer information about the structure of the environment and make it possible to infer spatial semantics from the map. Using a stereo rig as the sole sensor, our proposed system utilizes many advanced techniques, such as motion estimation, pose optimization, and bundle adjustment. We use two different representations to parameterize 3-D lines in this paper: Plucker line coordinates for efficient initialization of newly observed line features and projection of 3-D lines, and orthonormal representation for graph optimization. The proposed system is tested with indoor and outdoor sequences, and it exhibits better reconstruction performance against a point-based SLAM system in line-rich environments.
212 citations
8 Dec 2001
TL;DR: The 6/spl times/6 3D line motion matrix that acts on Plucker coordinates in projective, affine or Euclidean space is introduced and its algebraic properties and its relation to the usual 4/ spl times/4 point motion matrix are characterized.
Abstract: We study the problem of aligning two 3D line reconstructions expressed in Plucker line coordinates. We introduce the 6/spl times/6 3D line motion matrix that acts on Plucker coordinates in projective, affine or Euclidean space. We characterize its algebraic properties and its relation to the usual 4/spl times/4 point motion matrix, and propose various methods for estimating 3D motion from line correspondences, based on image-related and 3D cost functions. We assess the quality of the different estimation methods using simulated data and real images.
112 citations
1 Jan 1995
TL;DR: In this article, the geometry of perspective projection into multiple images and the matching constraints that this induces between the images are studied, and a Grassmannian tensor is proposed to encode the location of the joint image in the space of combined image coordinates.
Abstract: This paper studies the geometry of perspective projection into multiple images and the matching constraints that this induces between the images. The combined projections produce a 3D subspace of the space of combined image coordinates called the joint image. This is a complete projective replica of the 3D world defined entirely in terms of image coordinates, up to an arbitrary choice of certain scale factors. Projective reconstruction is a canonical process in the joint image requiring only the rescaling of image coordinates. The matching constraints tell whether a set of image points is the projection of a single world point. In 3D there are only three types of matching constraint: the fundamental matrix, Shashua's trilinear tensor, and a new quadrilinear 4 image tensor. All of these fit into a single geometric object, the joint image Grassmannian tensor. This encodes exactly the information needed for reconstruction: the location of the joint image in the space of combined image coordinates.
85 citations
Patent•
28 Nov 2003
TL;DR: In this paper, a coordinate input device is provided with a line coordinate signal driving circuit for applying a signal showing line coordinates to one electrode of an image display device for controlling voltage between a pair of electrodes configuring pixels forming a screen to control the color of the pixels, a column coordinate signal drive circuit for expressing column coordinates to the other electrode, an electric field detecting device 120 for detecting a pointed position on the screen or the change of its surrounding electric field and a coordinate discrimination circuit 121 for retrieving coordinates based on the detection result of the electric field detection device 120.
Abstract: PROBLEM TO BE SOLVED: To surely detect coordinates even when any object other than an instructed member exists on a screen without deteriorating the visibility of a display image even when this coordinate input device is applied to a particle movement/rotation type image display device. SOLUTION: This coordinate input device is provided with a line coordinate signal driving circuit 116 for applying a signal showing line coordinates to one electrode of an image display device for controlling voltage between a pair of electrodes configuring pixels forming a screen to control the color of the pixels, a column coordinate signal driving circuit 117 for applying a signal expressing column coordinates to the other electrode, an electric field detecting device 120 for detecting a pointed position on the screen or the change of its surrounding electric field and a coordinate discrimination circuit 121 for retrieving coordinates based on the detection result of the electric field detection device 120. Also, this coordinate input device is provided with a magnetic field detection device 401 for detecting the pointed position on the screen or its neighboring magnetic field instead of the electric field detection device 120 and the coordinate discrimination circuit 121, and a coordinate discrimination circuit 402 for retrieving the coordinates based on the change detected by the magnetic field detection device 401. COPYRIGHT: (C)2005,JPO&NCIPI
81 citations
TL;DR: Discrepancies between euclidean three-dimensional space and the projective space modeled by means of homogeneous coordinates account for seemingly paradoxical phenomena in computer graphics.
Abstract: Discrepancies between euclidean three-dimensional space and the projective space modeled by means of homogeneous coordinates account for seemingly paradoxical phenomena in computer graphics.
65 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2021 | 2 |
| 2020 | 4 |
| 2019 | 4 |
| 2018 | 11 |
| 2017 | 3 |
| 2016 | 5 |