A visual odometer without 3D reconstruction
نویسندگان
چکیده
This paper presents a vision-based method to estimate the *real motion of a single camera from views of a planar patch. Projective techniques allow to estimate camera motion from pixel space apparent motion without explicit 3-D reconstruction. In addition, the paper will present the HELINSPEC project, the framework where the proposed method has been tested, and will detail some applications in external building inspection that make use of the proposed techniques. Index Terms – feature matching, homography, visual odometer, UAV, building inspection.
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