NDLI: A robust multistage ego-motion estimation

Content Provider	IEEE Xplore Digital Library
Author	Wang, Z.L. Cai, B.G. Du, X.L. Ou, S. Zhao, J.
Copyright Year	2012
Description	Author affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, China (Zhao, J.) \|\| School of Electronic Information and Engineering, Beijing Jiao Tong University, 100044, China (Wang, Z.L.; Cai, B.G.; Du, X.L.; Ou, S.)
Abstract	In this paper, we assume the platform with visual observer is moved on flat ground and a constrained camera-platform configuration. The constrained camera-platform is used to simplify the camera motion model. Based on the assumption and simplified camera- platform configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration can removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and represented by two parts, and a multistage ego-motion estimation process is introduced. Some experiments with real images demonstrate the robustness of the proposed motion estimation method.
Starting Page	138
Ending Page	142
File Size	1290363
Page Count	5
File Format	PDF
ISBN	9781467309653
e-ISBN	9781467309646
DOI	10.1109/CISP.2012.6469853
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Transmission line matrix methods Motion estimation monocular vision Robot vision systems Estimation planar patch detection Cameras mobile robot Robustness region alignment
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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