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Intelligent Data Acquisition and Information Process Technologies
and Their Applications. Part II.




Vol. 19, Special Issue, February 2013, pp.25-33



Camera Pose Estimation in Dynamic Scenes with Background Tracking


Dong ZHANG and Ping LI

Department of Control Science and Engineering, Zhejiang University, 38 Zheda Road, Hangzhou, Zhejiang, 310027, China

Tel.: +86-13989463600, E-mail: zdzhangdong@yahoo.com.cn



Received: 4 December 2012   /Accepted: 15 January 2013   /Published: 19 February 2013

Digital Sensors and Sensor Sysstems


Abstract: This paper presents a method for robustly estimating camera pose in dynamic scenes. The main contribution of it is to use a background tracking method to ensure the accurately tracking of the moving background, thus to increase the robustness of the camera pose estimation. It has three innovations over existing methods. First, it uses a fast model initialization method to get the sparse model of the background; Second, it utilizes the newly developed 3-D motion segmentation method to segment the consecutive frames into different motions and uses an on-line model updating method to track the sparse model of the background; Third, it employs a model selection method to effectively connect the dynamic scenes with static scenes for an accurate estimation result. The method is tested on synthetic data and real-world image sequences and results show that it outperforms the existing methods.


Keywords: Camera pose estimation, Motion detection, Multiple view geometry, Dynamic vision


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