Motion parameter recovery for AGVs based on landmarks (or corners) has been widely used in stereo navigation. Existing methods use weighted least-squares algorithms to recover motion parameters, but these estimates usually yield a zigzagged vehicle trajectory. Based on the idea that vehicle motion must be constrained by the vehicle dynamics, a new method of recovering motion parameters is introduced, resulting in considerable improvement in positional accuracy. The method can also be used for scene segmentation.


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    Title :

    Motion parameter recovery and 3D scene segmentation


    Contributors:
    Zheng, Y. (author) / Billings, S.A. (author) / Mayhew, J.E.W. (author) / Frisby, J.P. (author)

    Publication date :

    1996-05-09


    Size :

    2 pages



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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