Compound Eye Sensor for 3D Ego Motion Estimation

Jan Neumann, Cornelia Fermuller, Yiannis Aloimonos, and Vladimir Brajovic
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), May, 2004.


Abstract
We describe a compound eye vision sensor for 3D ego motion computation. Inspired by eyes of insects, we show that the compound eye sampling geometry is optimal for 3D camera motion estimation. This optimality allows us to estimate the 3D camera motion in a scene-independent and robust manner by utilizing linear equations. The mathematical model of the new sensor can be implemented in analog networks resulting in a compact computational sensor for instantaneous 3D ego motion measurements in full six degrees of freedom.

Keywords
analog VLSI; 3D motion sensor; parallel imaging

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): Computational Sensor Laboratory
Note: submitted

Text Reference
Jan Neumann, Cornelia Fermuller, Yiannis Aloimonos, and Vladimir Brajovic, "Compound Eye Sensor for 3D Ego Motion Estimation," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), May, 2004.

BibTeX Reference
@inproceedings{Brajovic_2004_4546,
   author = "Jan Neumann and Cornelia Fermuller and Yiannis Aloimonos and Vladimir Brajovic",
   title = "Compound Eye Sensor for 3D Ego Motion Estimation",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04)",
   publisher = "IEEE",
   month = "May",
   year = "2004",
   Notes = "submitted"
}