Motion parameter recovery and 3D scene segmentation

Motion parameter recovery for AGVs based on landmarks (or corners) has been widely used in stereo navigation. Existing methods use weighted least-squares algorithms to recover motion parameters, but these estimates usually yield a zigzagged vehicle trajectory. Based on the idea that vehicle motion must be constrained by the vehicle dynamics, a new method of recovering motion parameters is introduced, resulting in considerable improvement in positional accuracy. The method can also be used for scene segmentation