Title :
Compound eye sensor for 3D ego motion estimation
Author :
Neumann, Jan ; Fermuller, Cornelia ; Aloimonos, Yiannis ; Brajovic, Vladimir
Author_Institution :
Center for Autom. Res., Maryland Univ., College Park, MD, USA
fDate :
28 Sept.-2 Oct. 2004
Abstract :
We describe a compound eye vision sensor for 3D ego motion computation. Inspired by eyes of insects, we show that the compound eye sampling geometry is optimal for 3D camera motion estimation. This optimality allows us to estimate the 3D camera motion in a scene-independent and robust manner by utilizing linear equations. The mathematical model of the new sensor can be implemented in analog networks resulting in a compact computational sensor for instantaneous 3D ego motion measurements in full six degrees of freedom.
Keywords :
image sensors; motion estimation; robot vision; 3D camera motion estimation; compound eye vision sensor; linear equations; robot vision; sampling geometry; Cameras; Computer vision; Equations; Eyes; Geometry; Insects; Motion estimation; Robustness; Sampling methods; Sensor phenomena and characterization;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389992
