Title :
Passive navigation using focus of expansion
Author :
Branca, A. ; Stella, E. ; Distante, A.
Author_Institution :
Istituto di Elaborazione Segnali ed Immagini, CNR, Bari, Italy
Abstract :
The goal of this work is to propose a method to solve the problem of passive navigation with visual means. The method is a two stage approach: matching of feature extracted from 2D images of a sequence at different times and egomotion parameter computation. Both algorithms are based on a least-square-error technique to minimize appropriate energy functions. Experimental results obtained in real context show the robustness of the method
Keywords :
computer vision; least squares approximations; navigation; 2D images; egomotion parameter computation; focus of expansion; least-square-error technique; passive navigation; visual means; Cameras; Cost function; Data mining; Feature extraction; Image motion analysis; Layout; Motion analysis; Motion estimation; Navigation; Optimization methods;
Conference_Titel :
Applications of Computer Vision, 1996. WACV '96., Proceedings 3rd IEEE Workshop on
Conference_Location :
Sarasota, FL
Print_ISBN :
0-8186-7620-5
DOI :
10.1109/ACV.1996.572001
