Robust Patch Concept for Egomotion Estimation
نویسندگان
چکیده
A local, direct and convergent approach based on a novel key-point detection scheme is established for the estimation of the egomotion state of a monocular observer moving translationally in 3D space comprised of static rigid objects. The feasibility of this concept is illustrated with a real image sequence. The tests indicate robustness of the approach.
منابع مشابه
Robust Egomotion Estimation From the Normal Flow Using Search Subspaces
We address the problem of egomotion estimation for a monocular observer moving under arbitrary translation and rotation, in an unknown environment. The method we propose is uniquely based on the spatio-temporal image derivatives, or the normal ow. We introduce a search paradigm which is based on geometric properties of the normal ow eld, and consists in considering a family of search subspaces ...
متن کاملSegmenting Independently Moving Objects from Egomotion Flow Fields
We describe a robust algorithm for the estimation of egomotion from noisy optic flow fields. The method is nonlinear, conceptually simple, and corrects for the well-known bias to which many egomotion-estimation algorithms are prone. Furthermore, techniques from robust statistics are employed to render the algorithm insensitive to the presence of large numbers of highly correlated outliers. Thes...
متن کاملEgomotion estimation on a topological space
We present an egomotion estimation method for a monocular observer moving with arbitrary motion. The method is uniquely based on the normal flow field and the estimation problem is defined in a particular topological space — the L-space — to allow the use of global data for the final estimates. Additionally, robust statistics methods are used for motion model selection, and provide improved rob...
متن کاملReal-Time Estimation of Fast Egomotion with Feature Classification Using Compound Omnidirectional Vision Sensor
For fast egomotion of a camera, computing feature correspondence and motion parameters by global search becomes highly timeconsuming. Therefore, the complexity of the estimation needs to be reduced for real-time applications. In this paper, we propose a compound omnidirectional vision sensor and an algorithm for estimating its fast egomotion. The proposed sensor has both multi-baselines and a l...
متن کاملSimultaneous egomotion estimation, segmentation, and moving object detection
Robust egomotion estimation is a key prerequisite for making a robot truly autonomous. In previous work, a multimodel extension of random sample consensus (RANSAC) was introduced to deal with environments with rapid changes by incorporating moving object information. A multiscale matching algorithm was also proposed to resolve the issue of imperfect segmentation. In this paper, we present a nov...
متن کامل