DocumentCode
2698709
Title
Egomotion estimation on a topological space
Author
Silva, Cesar ; Santos-Victor, Jose
Author_Institution
Inst. de Sistemas e Robotica, Inst. Superior Tecnico, Lisbon, Portugal
Volume
1
fYear
1998
fDate
16-20 Aug 1998
Firstpage
64
Abstract
We present an egomotion estimation method for a monocular observer moving with arbitrary motion. The method is uniquely based on the normal flow field and the estimation problem is defined in a particular topological space-the L-space-to allow the use of global data for the final estimates. Additionally, robust statistics methods are used for motion model selection, and provide improved robustness to image noise and data outliers
Keywords
image sequences; least mean squares methods; motion estimation; observers; parameter estimation; statistical analysis; topology; bidimensional regression; data outliers; egomotion estimation; flow field; image noise; least means squares; monocular observer; motion model selection; spatiotemporal image; statistics methods; topological space; Cameras; Electrical capacitance tomography; Image matching; Image motion analysis; Layout; Motion estimation; Optical computing; Optical noise; Postal services; Statistics;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on
Conference_Location
Brisbane, Qld.
ISSN
1051-4651
Print_ISBN
0-8186-8512-3
Type
conf
DOI
10.1109/ICPR.1998.711080
Filename
711080
Link To Document