Motion Stereo Using Ego-Motion Complex Logarithmic Mapping
نویسندگان
چکیده
منابع مشابه
Rover navigation using stereo ego-motion
Robust navigation for mobile robots over long distances requires an accurate method for tracking the robot position in the environment. Promising techniques for position estimation by determining the camera ego-motion from monocular or stereo sequences have been previously described. However, long-distance navigation requires both a high level of robustness and a low rate of error growth. In th...
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We describe an ego-motion algorithm based on dense spatiotemporal correspondences, using semi-global stereo matching (SGM) and bilateral image warping in time. The main contribution is an improvement in accuracy and robustness of such techniques, by taking care of speed and numerical stability, while employing twice the structure and data for the motion estimation task, in a symmetric way. In o...
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determine the ego-motion and for this we combine the transformation estimation suggested by Faugeras [1] with the data weighting method suggested by Kiang [4]. Once the camera motion is determined it is possible to combine positional information of each feature to increase their localisation accuracy. A system has been developed for integrating information from sequences of stereo images suitab...
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Several methods for computing observer motion from monocular and stereo image sequences have been proposed. However, accurate positioning over long distances requires a higher level of robustness than previously achieved. This paper describes several mechanisms for improving robustness in the context of a maximum-likelihood stereo egomotion method. We demonstrate that even a robust system will ...
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Robust navigation for mobile robots over long distances requires an accurate method for tracking the robot position in the environment. Techniques for position estimation by determining the camera egomotion from monocular or stereo sequences have been previously described. However, long-distance navigation requires a very high level of robustness and a very low rate of error growth. In this pap...
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ژورنال
عنوان ژورنال: IEEE Transactions on Pattern Analysis and Machine Intelligence
سال: 1987
ISSN: 0162-8828
DOI: 10.1109/tpami.1987.4767919