A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Large Motion Estimation for Omnidirectional Vision
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Omni-Directional Vision for Robot Navigation
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
A General Approach for Egomotion Estimation with Omnidirectional Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Ego-Motion and Omnidirectional Cameras
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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Egomotion estimation is based principally on the estimation of the optical flow in the image. Recent research has shown that the use of omnidirectional systems with large fields of view allow overcoming the limitation presented in planar-projection imagery in order to address the problem of motion analysis. For omnidirectional images, the 2D motion is often estimated using methods developed for perspective images. This paper adapts motion field calculated using adapted method which takes into account the distortions existing in the omnidirectional image. This 2D motion field is then used as input to the egomotion estimation process using spherical representation of the motion equation. Experimental results are shown and comparison of error measures are given to confirm that succeeded estimation of camera motion will be obtained when using an adapted method to estimate optical flow.