An Improved Evolutionary Approach for Egomotion Estimation with a 3D TOF Camera

Authors:
Ivan Villaverde;Manuel Graña
Affiliations:
Computational Intelligence Group, University of the Basque Country,;Computational Intelligence Group, University of the Basque Country,
Venue:
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Year:
2009

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Abstract

We propose an evolutionary approach for egomotion estimation with a 3D TOF camera. It is composed of two main modules plus a preprocessing step. The first module computes the Neural Gas (NG) approximation of the preprocessed camera 3D data. The second module is an Evolution Strategy which performs the task of estimating the motion parameters by searching on the space of linear transformations restricted to the translation and rotation, applied on the codevector sets obtained by the NG for successive camera readings. The fitness function is the matching error between the transformed last set of codevectors and the codevector set corresponding to the next camera readings. In this paper, we report new modifications and improvements of this system and provide several comparisons between our and other well known registration algorithms.