We address the problem of egomotion estimation of a monocular observer moving with arbitrary translation and rotation in an unknown environment, using log-polar images. The method we propose is uniquely based on the spatio-temporal image derivatives, or the normal flow. Thus, we avoid computing the complete optical flow field, which is an ill-posed problem due to the aperture problem. We use a search paradigm based on geometric properties of the normal flow field, and consider a family of search subspaces to estimate the egomotion parameters. These algorithms are particularly well-suited for the log-polar image geometry, as we use a selection of special normal flow, vectors with simple representation in log-polar coordinates. This approach highlights the close coupling between algorithmic aspects and the sensor geometry (retina physiology), often, found in nature. Finally, we present and discuss a set of experiments, for various kinds of camera motions, which show encouraging results.


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    Titel :

    Egomotion estimation using log-polar images


    Beteiligte:
    Silva, C. (Autor:in) / Santos-Victor, J. (Autor:in)


    Erscheinungsdatum :

    01.01.1998


    Format / Umfang :

    917512 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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