Name
Title | ||
|---|---|---|
Three-dimensional ego-motion estimation from motion fields observed with multiple cameras |
Abstract | ||
|---|---|---|
In this paper, we present a robust method to estimate the three-dimensional ego-motion of an observer moving in a static environment. This method combines the optical flow fields observed with multiple cameras to avoid the ambiguity of 3-D motion recovery due to small field of view and small depth variation in the field of view. Two residual functions are proposed to estimate the ego-motion for different situations. In the non-degenerate case, both the direction and the scale of the three-dimensional rotation and translation can be obtained. In the degenerate case, rotation can still be obtained but translation can only be obtained up to a scale factor. Both the number of cameras and the camera placement affect the accuracy of the estimated ego-motion. We compare different camera configurations through simulation. Some results of real-world experiments are also given to demonstrate the benefits of our method. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1016/S0031-3203(00)00092-3 | Pattern Recognition |
Keywords | Field | DocType |
Ego-motion estimation,Multiple sensors,Optical flow | Field of view,Scale factor,Computer vision,Residual,Motion field,Degeneracy (mathematics),Artificial intelligence,Motion estimation,Observer (quantum physics),Optical flow,Mathematics | Journal |
Volume | Issue | ISSN |
34 | 8 | 0031-3203 |
Citations | PageRank | References |
10 | 0.57 | 23 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yong-Sheng Chen | 1 | 314 | 30.12 |
| Lin-Gwo Liou | 2 | 50 | 5.33 |
| Yi-Ping Hung | 3 | 1743 | 168.25 |
| Chiou-Shann Fuh | 4 | 647 | 56.08 |