Title :
Robust estimation of motion and structure using a discrete H∞ filter
Author :
Qian, G. ; Kale, A. ; Chellappa, R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Maryland Univ., College Park, MD, USA
Abstract :
In this paper a robust structure from motion (SfM) algorithm using a discrete H∞ filter is presented. Existing SfM algorithms do not work well when large motion or measurements modeling uncertainties are present. By using a H∞ filter these modeling uncertainties can be successfully handled. This algorithm has been tested on synthetic image sequences and results show the superiority of the H∞ filtering approach
Keywords :
filtering theory; image sequences; motion estimation; H∞ filtering; SfM algorithms; discrete H∞ filter; modeling uncertainties; motion estimation; robust estimation; structure from motion algorithm; synthetic image sequences; Additive noise; Cameras; Covariance matrix; Equations; Filtering algorithms; Filters; Laboratories; Motion estimation; Noise measurement; Robustness;
Conference_Titel :
Image Processing, 2000. Proceedings. 2000 International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-6297-7
DOI :
10.1109/ICIP.2000.899529
