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
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;
Conference_Titel :
Pattern Recognition, 2002. Proceedings. 16th International Conference on
Print_ISBN :
0-7695-1695-X
DOI :
10.1109/ICPR.2002.1048010
