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Multiview Trajectory Mapping Using Homography with Lens Distortion Correction

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We present a trajectory mapping algorithm for a distributed camera setting that is based on statistical homography estimation accounting for the distortion introduced by camera lenses. Unlike traditional approaches based on the direct linear transformation (DLT) algorithm and singular value decomposition (SVD), the planar homography estimation is derived from renormalization. In addition to this, the algorithm explicitly introduces a correction parameter to account for the nonlinear radial lens distortion, thus improving the accuracy of the transformation. We demonstrate the proposed algorithm by generating mosaics of the observed scenes and by registering the spatial locations of moving objects (trajectories) from multiple cameras on the mosaics. Moreover, we objectively compare the transformed trajectories with those obtained by SVD and least mean square (LMS) methods on standard datasets and demonstrate the advantages of the renormalization and the lens distortion correction.

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Correspondence to Gabin Kayumbi.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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  • Spatial Location
  • Singular Value Decomposition
  • Little Mean Square
  • Mapping Algorithm
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