International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Decoupling the 3D Motion Space by Fixation
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Intrinsic Images for Dense Stereo Matching with Occlusions
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
A General Approach for Egomotion Estimation with Omnidirectional Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
A system for rotational velocity computation from image sequences
Image and Vision Computing
Determining spatial motion directly from normal flow field: a comprehensive treatment
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume Part I
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We address the problem of egomotion estimation for a monocular observer moving under arbitrary translation and rotation, in an unknown environment. The method we propose is uniquely based on the spatio-temporal image derivatives, or the normal flow. We introduce a search paradigm which is based on geometric properties of the normal flow field, and consists in considering a family of search subspaces to estimate the egomotion parameters. Various algorithms are proposed within this framework. In order to decrease the noise sensitivity of the estimation methods, we use statistical tools, based on robust regression theory. Finally, we present and discuss a wide variety of experiments with synthetic and real images, for various kinds of camera motion.