Motion-egomotion discrimination and motion segmentation from image-pair streams
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
Stereo Tracking Using ICP and Normal Flow Constraint
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 4 - Volume 4
Moving Object Segmentation Using Optical Flow and Depth Information
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Inclusion of a Second-Order Prior into Semi-Global Matching
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Simultaneous Estimation of Pose and Motion at Highly Dynamic Turn Maneuvers
Proceedings of the 31st DAGM Symposium on Pattern Recognition
Estimating the driving state of oncoming vehicles from a moving platform using stereo vision
IEEE Transactions on Intelligent Transportation Systems
Divide-and-conquer strategies for estimating multiple transparent motions
IWCM'04 Proceedings of the 1st international conference on Complex motion
Robust monocular detection of independent motion by a moving observer
IWCM'04 Proceedings of the 1st international conference on Complex motion
Dense, robust, and accurate motion field estimation from stereo image sequences in real-time
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Stereoscopic Scene Flow Computation for 3D Motion Understanding
International Journal of Computer Vision
6D-vision: fusion of stereo and motion for robust environment perception
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Mid-level segmentation and segment tracking for long-range stereo analysis
PSIVT'11 Proceedings of the 5th Pacific Rim conference on Advances in Image and Video Technology - Volume Part I
An evaluation framework for stereo-based driver assistance
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Error growth in position estimation from noisy relative pose measurements
Robotics and Autonomous Systems
Machine Vision and Applications
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We propose a robust approach to the problem of ego-motion estimation using a mobile stereo platform. Stereo is computed for every frame obtaining 3D points of the environment. In addition optical flow establishes correspondences between points in successive frames. A smoothness motion constraint is applied in order to detect flow vectors which are inconsistent with the current ego-motion. The optimal rotation and translation between the resulting clouds of static points is then computed using a closed form solution based on unit quaternions, providing the motion between the current and previous frame. Stabilization and a better estimation are achieved computing the observed motion between the current frame and many frames in the past in a multi-frame fashion. The integration of successive movements allows the reconstruction of the travelled path. Experimental results with sequences covering more than 1.5 kilometers of travelled distance are presented and compared with GPS and odometry.