Egomotion estimation of a range camera using the space envelope

In this paper we present a method to compute the egomotion of a range camera using the space envelope. The space envelope is a geometric model that provides more information than a simple segmentation for correspondences and motion estimation. We describe a novel variation of the maximal matching algorithm that matches surface normals to find correspondences. These correspondences are used to compute rotation and translation estimates of the egomotion. We demonstrate our methods on two image sequences containing 70 images. We also discuss the cases where our methods fail, and additional possible methods for exploiting the space envelope.