Direct egomotion estimation
نویسندگان
چکیده
In this paper, we address the problem of egomotion estimation for a monocular moving observer, under arbitrary translation and rotation. This is a key step for the navigation of any autonomous system. The method we propose is uniquely based on the spatio-temporal image derivatives, and has O(n2) complexity. We search the image for particular geometric properties of the normal flow, tightly connected to the egomotion parameters, in two successive steps. The Ψ-line search algorithm determines the direction of the Focus of Expansion (FOE) and computes some information on the rotation parameters. Finally, the Φ-line search algorithm determines the FOE, and the individual values of the rotation. Various experiments with synthetic and real images are presented and discussed.
منابع مشابه
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