Differential epipolar constraint in mobile robot egomotion estimation
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 w...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2002 |
| País: | España |
| Recursos: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repositorio: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10256/2301 |
| Acesso em linha: | http://hdl.handle.net/10256/2301 |
| Access Level: | acceso abierto |
| Palavra-chave: | Geometria computacional Robots mòbils Visió per ordinador Computer vision Computational geometry Mobile robots |
| Resumo: | 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 |
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