DocumentCode
384169
Title
Differential epipolar constraint in mobile robot egomotion estimation
Author
Armangué, Xavier ; Araújo, Helder ; Salvi, Joaquim
Author_Institution
Inst. de Informatica i Aplicacions, Univ. de Girona, Spain
Volume
3
fYear
2002
fDate
2002
Firstpage
599
Abstract
The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given.
Keywords
matrix algebra; mobile robots; motion estimation; robot vision; camera egomotion; computer vision; differential epipolar constraint; discrete epipolar constraint; mobile robot egomotion estimation; self-calibrated stereoscopic systems; synthetic data; Cameras; Computer vision; Equations; Geometrical optics; Geometry; Layout; Mobile robots; Motion estimation; Optical imaging; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 2002. Proceedings. 16th International Conference on
ISSN
1051-4651
Print_ISBN
0-7695-1695-X
Type
conf
DOI
10.1109/ICPR.2002.1048010
Filename
1048010
Link To Document