Egomotion Estimation Using Log-Polar Images

Authors:
César Silva;José Santos-Victor
Affiliations:
-;-
Venue:
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Year:
1998

Citing 0
Cited 4

Similarity motion estimation and active tracking through spatial-domain projections on log-polar images

Computer Vision and Image Understanding
Motion Analysis with the Radon Transform on Log-Polar Images

Journal of Mathematical Imaging and Vision
Similarity motion estimation and active tracking through spatial-domain projections on log-polar images

Computer Vision and Image Understanding
A review of log-polar imaging for visual perception in robotics

Robotics and Autonomous Systems

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Abstract

We address the problem of egomotion estimation of a monocular observer moving with arbitrary translation and rotation in an unknown environment, using log-polar images.The method we propose is uniquely based on the spatio-temporal image derivatives, or the normal flow. Thus, we avoid computing the complete optical flow field, which is an ill-posed problem due to the aperture problem. We use a search paradigm based on geometric properties of the normal flow field, and consider a family of search subspaces to estimate the egomotion parameters. These algorithms are particularly well-suited for the log-polar image geometry, as we use a selection of special normal flow vectors with simple representation in logpolar coordinates. This approach highlights the close coupling between algorithmic aspects and the sensor geometry (retina physiology), often found in nature.Finally, we present and discuss a set of experiments, for various kinds of camera motions, which show encouraging results.