An Efficient Linear Method for the Estimation of Ego-Motion from Optical Flow
Proceedings of the 31st DAGM Symposium on Pattern Recognition
Inverse perspective mapping and optic flow: A calibration method and a quantitative analysis
Image and Vision Computing
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A novel, nonlinear algorithm is introduced for the estimation of rigid camera motion from instantaneous velocity measurements in the calibrated case. It is shown that by minimizing an approximation to the image-reprojection error rather than the actual error, as done by the optimal algorithms, the proposed algorithm achieves largely increased robustness to local minima at the cost of a slightly decreased accuracy.