A General Approach for Egomotion Estimation with Omnidirectional Images

Reduced egomotion estimation drift using omnidirectional views

Estimation of camera motion from a given image sequence is a common task for multi-view 3D computer vision applications. Salient features (lines, corners etc.) in the images are used to estimate the motion of the camera, also called egomotion. This estimation suffers from an error built-up as the length of the image sequence increases and this causes a drift in the estimated position. In this l...

Real-Time Estimation of Fast Egomotion with Feature Classification Using Compound Omnidirectional Vision Sensor

For fast egomotion of a camera, computing feature correspondence and motion parameters by global search becomes highly timeconsuming. Therefore, the complexity of the estimation needs to be reduced for real-time applications. In this paper, we propose a compound omnidirectional vision sensor and an algorithm for estimating its fast egomotion. The proposed sensor has both multi-baselines and a l...

Adapted Approach for Omnidirectional Egomotion Estimation

Insect-Inspired Estimation of Egomotion

Tangential neurons in the fly brain are sensitive to the typical optic flow patterns generated during egomotion. In this study, we examine whether a simplified linear model based on the organization principles in tangential neurons can be used to estimate egomotion from the optic flow. We present a theory for the construction of an estimator consisting of a linear combination of optic flow vect...

Using Symmetry as a Feature in Panoramic Images for Mobile Robot Applications

We propose to use symmetry as a global feature for mobile robot applications in an indoor environment. Our mobile robot solely uses an omnidirectional vision sensor consisting of a digital colour video camera and a hyperbolic mirror. Thus, robust image feature extraction is required for good performance in each application. The detection of symmetry is an effective natural vision routine result...