Measuring camera translation by the dominant apical angle

A. Torii, M. Havlena, T. Pajdla, and B. Leibe

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'Go & Stop' sequence

Original sequence with alert
"Too small motion!"		 This graph shows the dominant apical angles from pairs of successive images.
The alert has been shown when the dominant apical angle is under one degree.
g1draw.fig
Go to the full length video 		daa_g1.png

The result of structure from motion in VRML format is here.
g1sfm.png


'Pedestrian' sequence

Original sequence with alert
"Too small motion!"		 This graph shows the dominant apical angles from pairs of successive images.
The alert has been shown when the dominant apical angle is under 0.5 degree.
g2raw.gif
Go to the full length video		 daa_g2.png

The result of structure from motion
in VRML format is here.		 Non-stabilized (left): Pedestrian detection (green rectangles) in perspective cutouts without  the stabilization.
Stabilized (right): Pedestrian detection in perspective  cutouts  with stabilized horizon (red  lines) computed by using the camera  trajectories of structure from motion.
g2sfm.png g2pedraw.gif
Go to the full length video