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Mobile Camera Localization Using Apollonius Circles and Virtual Landmarks

Authors
  • Penne, Rudi1
  • Mertens, Luc1
  • Veraart, Jelle1
  • 1 Karel de Grote-Hogeschool, Department of Engineering, Antwerp, Belgium , Antwerp (Belgium)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Sep 25, 2009
Volume
58
Issue
3-4
Pages
287–308
Identifiers
DOI: 10.1007/s10846-009-9375-1
Source
Springer Nature
Keywords
License
Yellow

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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