3-D Articulated Pose Tracking for Untethered Diectic Reference
ICMI '02 Proceedings of the 4th IEEE International Conference on Multimodal Interfaces
6D scan registration using depth-interpolated local image features
Robotics and Autonomous Systems
A robust approach for ego-motion estimation using a mobile stereo platform
IWCM'04 Proceedings of the 1st international conference on Complex motion
Large head movement tracking using scale invariant view-based appearance model
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Adaptive view-based appearance models
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
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This paper presents a new approach for 3D view registration of stereo images. We introduce a hybrid error function which combines constraints from the ICP (Iterative Closest Point) algorithm and normal flow constraint. This new technique is more precise for small movementsand noisy depth than ICP alone, and more robust for large movements than the normal flow constraint alone. Finally, we present experiments which test the accuracy of our approach on sequences of real and synthetic stereo images.