Statistical Egomotion Estimation in a Dynamic En- vironment
نویسنده
چکیده
Motivation: The time-varying imagery captured by a video camera contains a wealth of raw information about the three-dimensional dynamics and structure of the world. Once the camera motion is determined and compensated for, the remaining scene motion may be used to build a global representation of this temporal data. Such tasks as activity detection, 2D mosaic construction, and 3D site modeling become feasible when the multiple sources of image motion are separated.
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 کاملProbabilistic Egomotion From a Statistical Framework
Traditional egomotion estimation algorithms have largely depended on deterministic feature correspondences to infer information about the camera and have been oblivious to the scene geometry by treating scenes with varying projectivities uniformly. This paper builds on the statistical framework of the joint feature distribution (JFD) which models the joint probability distributions of the posit...
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 کاملProbabilistic Optical Flow Estimation for Large Pixel Displacements Utilizing Egomotion Flow Compensation
The pixel movements in an image sequence grabbed by a camera that is mounted on a mobile platform comprise the superposition of several motion components. These motion components are caused by the egomotion of the camera and by the different movements of the objects seen by the camera. Utilizing sensory information from a calibrated stereo rig and egomotion measurements of the mobile platform w...
متن کاملEgomotion Estimation Using Binocular Spatiotemporal Oriented Energy
Camera egomotion estimation is concerned with the recovery of a camera’s motion (e.g., instantaneous translation and rotation) as it moves through its environment. It has been demonstrated to be of both theoretical and practical interest and therefore has been the subject of considerable research. In the light of previous work on egomotion estimation, the present paper makes three contributions...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1997