We present a procedure for egomotion estimation from visual input of a stereo pair of video cameras. The 3D egomotion problem, which has six degrees of freedom in general, is simplified to four dimensions and further decomposed to two two-dimensional subproblems. The decomposition allows us to use a voting strategy to identify the most probable solution, avoiding the random sampling (RANSAC) or other approximation techniques. The input constitutes of image correspondences between consecutive stereo pairs, i.e. feature points do not need to be tracked over time. The experiments show that even if a trajectory is put together as a simple concatenation of frame-to-frame increments, it comes out reliable and precise.
A voting strategy for visual ego-motion from stereo
2010 IEEE Intelligent Vehicles Symposium ; 382-387
2010-06-01
1593394 byte
Conference paper
Electronic Resource
English
A Voting Strategy for Visual Ego-Motion from Stereo, pp. 382-387
British Library Conference Proceedings | 2010
|Visual surface segmentation from stereo
British Library Online Contents | 1997
|Passive photometric stereo from motion
IEEE | 2005
|A voting stereo matching method for real-time obstacle detection
Tema Archive | 2003
|