This paper presents a scheme of camera ego-motion estimation through locating the focus of expansion (FOE). We showed that the bilinear constraint [2] leads to a suboptimal solution of motion parameters in the sense that it does not correspond to maximum likelihood estimate. The contribution of the paper is that we study different error metrics, evaluate the metrics, and propose to use two normalized error metrics under dependent and independent noise model, respectively. They are demonstrated to be optimal in the sense of maximum likelihood. In addition, based on the bilinear nature of the objective functions, we propose to use some specific optimization algorithms to achieve efficient and accurate convergence. Robust estimation problem is also addressed to handle outliers caused by independent motions. Promising results have been obtained in experiments. The estimated motion parameters can be used to detect various independently moving objects on the road.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Error-metrics for Camera Ego-motion Estimation


    Beteiligte:
    Juhua Zhu, (Autor:in) / Ying Zhu, (Autor:in) / Ramesh, V. (Autor:in)


    Erscheinungsdatum :

    01.01.2005


    Format / Umfang :

    444168 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    CAMERA MOTION ESTIMATION DEVICE, CAMERA MOTION ESTIMATION METHOD AND PROGRAM

    TAZAKI TAKESHI / WATANABE YUKI | Europäisches Patentamt | 2019

    Freier Zugriff

    Motion Estimation via a Zoom Camera

    Ma, L. / Cao, C. / Young, A. et al. | British Library Conference Proceedings | 2008


    Motion Estimation via a Zoom Camera

    Ma, Lili / Cao, Chengyu / Young, Amanda et al. | AIAA | 2008


    ERROR ESTIMATION METHOD, MOTION ANALYSIS METHOD, ERROR ESTIMATION DEVICE, AND PROGRAM

    SUGITANI DAISUKE | Europäisches Patentamt | 2015

    Freier Zugriff

    Error estimation method, motion analysis method, error estimation apparatus, and program

    DING YIMEI / SUGIYA DAISUKE | Europäisches Patentamt | 2019

    Freier Zugriff