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Vanishing Point Detection and Tracking Jeongkyun Lee

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Vanishing Point Related Works –Vanishing Point Detection –Vanishing Point Tracking Proposed Method Result Contents 2

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A set of parallel lines in the scene is projected onto a set of lines in the image that meet in a common point, with a pin-hole camera. Vanishing Point 3

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Intrinsic camera calibration Plane rectification 3D reconstruction Orientation estimation Stabilization Etc. Vanishing Point 4

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Gaussian unit sphere A great circle: A projection of a line onto the unit sphere Vanishing direction Normal vectors of great circles Vanishing Point 5

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Rotational dependence the vanishing points, are not affected by the camera translation, but are affected only by the camera rotation. Vanishing Point 6 Homogeneous coordinates Euclidean transformation Rotation + Translation Vanishing point A projection of a vanishing direction

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Work space –Image space, Gaussian sphere, Projective space, etc. –Hough transform, Thales theory, etc. –Bounded area(a tessellated space or accumulation cells), Unbounded area Clustering technique –Accumulation(Voting), RANSAC-based, etc. –Three orthogonal direction(Manhattan World), Coplanar, etc. Estimation technique –EM algorithm, SVD, Weighted least squre Vanishing Point Detection 7

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Nieto at al. PRL 2011 – line vanishing point EM algorithm Almansa at al. TPAMI 2003 –Image plane prior vanishing point Vanishing Point Detection 8

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1. VP, VP 2. VPs Orthogonal tripod Vanishing Point Tracking 9

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Hornacek at al. CVPR 2011 –RANSAC-based / Manhattan world / SVD / tripod matching Vanishing Point Tracking 10

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VP Line detection VP estimation Work space error image plane VP Rotation Tessellated weight Related Works 11

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1. System modeling State vector Dynamic model Measurement model Real-time Orientation and Vanishing Point Tracking 12

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2. Initialization Vanishing Direction: VP detection open source 3. Measurement acquisition: Line tracking EDLines Line segment (~10ms) Line, gradient 4. Feature management New line feature: line vanishing direction threshold Line removal: vanishing direction line threshold, line Real-time Orientation and Vanishing Point Tracking 13

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Synthetic data Result 14

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Singularity 1 Result 15

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Singularity 2 Result 16

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ROVE + Line tracking + Line feature management Result 17

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ROVE + EDLines Result 18

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Computational time Matlab Feature management : 3~5 ms Prediction : 2 ms Measurement search ( Line detection + Line matching ) : 40~45 ms Update : 1ms Result 19

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20 Thank you!

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