Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determination of Camera Location from 2-D to 3-D Line and Point Correspondences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Matching Aerial Images to 3-D Terrain Maps
IEEE Transactions on Pattern Analysis and Machine Intelligence
Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Geometric Interpretation of Weak-Perspective Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
3-D to 2-D Pose Determination with Regions
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
A Multi-Frame Structure-from-Motion Algorithm under Perspective Projection
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
Extracting Structure from Optical Flow Using the Fast Error Search Technique
International Journal of Computer Vision
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
A critique of structure-from-motion algorithms
Computer Vision and Image Understanding
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Integrated Position Estimation Using Aerial Image Sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure and Motion from Line Segments in Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Exact Two-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Factorization Based Algorithm for Multi-Image Projective Structure and Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
3-D Motion and Structure from 2-D Motion Causally Integrated over Time: Implementation
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Complete scene structure from four point correspondences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Automatic evaluation of landmarks for image-based navigation update
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
International Journal of Robotics Research
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A novel algorithm for pose and motion estimation using corresponding features and a Digital Terrain Map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables the elimination of the ambiguity present in vision-based algorithms for motion recovery. As a consequence, the absolute position and orientation of a camera can be recovered with respect to the external reference frame. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. Explicit reconstruction of the 3D world is not required. When considering a number of feature points, the resulting constraints can be solved using nonlinear optimization in terms of position, orientation, and motion. Such a procedure requires an initial guess of these parameters, which can be obtained from dead-reckoning or any other source. The feasibility of the algorithm is established through extensive experimentation. Performance is compared with a state-of-the-art alternative algorithm, which intermediately reconstructs the 3D structure and then registers it to the DTM. A clear advantage for the novel algorithm is demonstrated in variety of scenarios.