An Introduction to Inertial and Visual Sensing
International Journal of Robotics Research
Recovering epipolar direction from two affine views of a planar object
Computer Vision and Image Understanding
Monocular object pose computation with the foveal-peripheral camera of the humanoid robot Armar-III
Proceedings of the 2008 conference on Artificial Intelligence Research and Development: Proceedings of the 11th International Conference of the Catalan Association for Artificial Intelligence
Camera motion estimation by tracking contour deformation: Precision analysis
Image and Vision Computing
A comparison of three methods for measure of time to contact
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Affine epipolar direction from two views of a planar contour
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Autonomous vehicle video aided navigation – coupling INS and video approaches
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
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A method for estimating mobile robot ego-motion is presented, which relies on tracking contours in real-time images acquired with a calibrated monocular video system. After fitting an active contour to an object in the image, 3D motion is derived from the affine deformations suffered by the contour in an image sequence. More than one object can be tracked at the same time, yielding some different pose estimations. Then, improvements in pose determination are achieved by fusing all these different estimations. Inertial information is used to obtain better estimates, as it introduces in the tracking algorithm a measure of the real velocity. Inertial information is also used to eliminate some ambiguities arising from the use of a monocular image sequence. As the algorithms developed are intended to be used in real-time control systems, considerations on computation costs are taken into account. © 2004 Wiley Periodicals, Inc.