Free counter The Epipolar Geometry Toolbox (EGT)
\ocra{\Huge EPIPOLAR GEOMETRY TOOLBOX} ^{\copyright } v1.3


Gian Luca Mariottini - Domenico Prattichizzo

last update Jan 11, 2006


1  Keywords
2  Introduction and motivations
3  Description
4  Screenshots
5  Animations
6  Applications
7  Rights to use, citation etc.
8  Publications
9  Download manual and Matlab code
10  EGT Mailing List
11  Quick start
12  Acknowledgments
13  People

1  Keywords

Matlab toolbox, Pinhole cameras, Central catadioptric (panoramic) cameras, Epipolar geometry, Fundamental matrix estimation, Visual servoing.

2  Introduction and motivations

The Epipolar Geometry Toolbox (EGT) is a toolbox designed for Matlab. Its core functionalities are extended by the use of many additional toolboxes. Combined with interactive Matlab environment and advanced graphical functions, EGT provides a wide set of functions to approach computer vision problems with multiple views. When used with the Robotics Toolbox by P. Corke, EGT allows to design also Visual Servoing simulations also in real experiments.
In these years we have observed the necessity to develop a software environment that could help researchers to rapidly create a multiple camera setup, use visual data and design new visual servoing algorithms. With EGT we provide a wide set of easy-to-use but also completely customizable functions in order to create general multi-camera scenarios and manipulate the visual information between them. A distinguishable remark of EGT is that it can be used to create and manipulate visual data provided both by pin-hole and panoramic cameras. Catadioptric cameras, due to their wide field of view, has been recently applied in visual servoing context.
EGT can be freely downloaded and requires Matlab 6.5 or upper. The detailed manual is provided with a large set of examples, figures and source code also for beginners.
EGT is open source. The current version of EGT is v1.3 and it has been released in December 2005. EGT v1.3 includes many new functionalities with respect to the previous one and a detailed and updated manual, also.

3  Description

The EGT v1.3 consists in a collection of functions for:
Note moreover, that when used with the Robotics Toolbox, EGT can be adopted to design visual servoing control laws.
A more detailed explanation of EGT utilization can be found in the tutorial paper and in the EGT v1.3 Manual.

4  Screenshots

In the following some screenshots are reported:
Camera/frame and scene points
An example of visual servoing algorithm
An example with panoramic cameras
EGT has been used in real experiments for estimating the epipolar geometry!

5  Animations

Visual Servoing for 6dof PUMA robot made with EGT and the Corke's Robotics Toolbox. Image feature trajectory during the servoing

We used EGT to realize an image-based visual servoing for catadioptric cameras based on the auto-epipolar property. When bi-conics meet in a single point then both cameras have same orientation [Mariottini,Prattichizzo et al. - ICRA05]

6  Applications

EGT has been used to develop new visual servoing algorithms based on epipolar geometry at the Department of Engineering Information (University of Siena).
Moreover, the visual servoing controller proposed by P.Rives in "Visual Servoing based on Epipolar Geometry"(2002) has been considered as a tutorial example to show the main EGT features in a visual servoing context. The source code can be found in demo directory.

7  Rights to use, citation etc.

Many people are using EGT for teaching and research purposes in vision and robotics. If you plan to duplicate the documentation for class use then every copy must include the front page of the original manual provided in pdf format with the release. If you want to cite EGT in your research, please use:
        AUTHOR = {G.L. Mariottini and D. Prattichizzo},
        JOURNAL = {IEEE Robotics and Automation Magazine},
        MONTH = {December},
        NUMBER = {12},
        PAGES = {},
        TITLE = {EGT: a Toolbox for Multiple View Geometry and Visual Servoing},
        VOLUME = {3},
        YEAR = {2005}

8  Publications

G.L. Mariottini, D. Prattichizzo "EGT: a Toolbox for Multiple View Geometry and Visual Servoing",accepted for publication in IEEE Robotics & Automation Magazine, 2005

G.L. Mariottini, E.Alunno, D.Prattichizzo , "The Epipolar Geometry Toolbox (EGT) for Matlab", Technical Report 07-21-3-DII University of Siena, July 2004 Siena, Italy.

G.L. Mariottini, E.Alunno, J. Piazzi, D.Prattichizzo , "Visual Servoing with Central Catadioptric Camera", ed. Birkhauser-Springer. Edited volume in preparation, 2005. (here you can find a short introduction to EGT)

9  Download manual and Matlab code

Here you can download both the EGT-Epipolar Geometry Toolbox and the documentation. You only need Matlab (v6.5 or upper) to start to work.
EGT is copyrighted. However you can download and also modify them, but you can not use for commercial purposes.
Compatibility: EGT v1.3 is fully compatible with Windows and MATLAB 6.5 (or upper). EGT v1.2 has been tested under Linux and MATLAB 6.5.

10  EGT Mailing List

Inscribe to the EGT mailing list! You can post messages to EGT creators in order to have more info about the Toolbox or to provide suggests!
Epipolar Geometry Toolbox (EGT) Mailing List

11  Quick start

For a quick start go to the directory Demo and then run the Matlab script DemoEGT_1.m in the Matlab environment to run a demo. In the same directory the Matlab script SIM_Rives00.m runs the simulation of the visual servoing algorithm proposed by P. Rives in
P. Rives,"Visual servoing based on epipolar geometry," in International Conference on Intelligent Robots and Systems, Vol. 1, pages 602-607, 2000.
Other demos are available in the Demo directory.

12  Acknowledgments

EGT has been developed at the Department of Engineering Information University of Siena (ITALY).
A special thanks goes to Paola Garosi and Fabio Morbidi that helped us with useful comments.
You are invited to suggest us improvements, bugs, and also to send us your functions to improve the toolbox.

13  People

The EGT project is leaded by

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On 11 Jan 2006, 12:55.