Title :
Visual navigation using a single camera
Author :
Bouguet, Jean-Yves ; Perona, Pietro
Author_Institution :
California Inst. of Technol., Pasadena, CA, USA
Abstract :
We assess the usefulness of monocular recursive motion estimation techniques for vehicle navigation in the absence of a model for the environment. For this purpose we extend a recently proposed recursive motion estimator, the Essential filter, to handle scale estimation. We examine experimentally the accuracy with which the motion and position of the vehicle may be computed on an 8000 frame indoors sequence. The issues of sampling time frequency and number of necessary features in the environment are addressed systematically
Keywords :
computer vision; image sequences; motion estimation; navigation; recursive estimation; vehicles; 8000 frame indoors sequence; Essential filter; accuracy; monocular recursive motion estimation techniques; motion; necessary features; position; sampling time frequency; scale estimation; single camera; vehicle navigation; visual navigation; Cameras; Cities and towns; Computer vision; Data mining; Filters; Motion estimation; Navigation; Recursive estimation; Sampling methods; Vehicles;
Conference_Titel :
Computer Vision, 1995. Proceedings., Fifth International Conference on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-8186-7042-8
DOI :
10.1109/ICCV.1995.466877
