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Abstract

This paper presents a comparison between methods that estimate motion of a camera from a sequence of video images. We have implemented two methods?a homography based method that assumes planar environments, and shape-from-motion, a general method that can deal with a fully three dimensional world. Both methods have been formulated in an iterative, online form to produce estimates of camera motion. We discuss a trade-off in accuracy and run time efficiency based on experimental results for these two general methods in relation to ground truth. We show how a variation of the homography method can produce accurate results in some cases when the environment is non-planar, with low computational cost.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 6

Text Reference

Henele Adams, Sanjiv Singh, and Dennis Strelow, "An empirical comparison of methods for image-base motion estimation," 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002.

BibTeX Reference

@inproceedings{Adams_2002_4920,
   author = "Henele Adams and Sanjiv Singh and Dennis Strelow",
   title = "An empirical comparison of methods for image-base motion estimation",
   booktitle = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   month = "October",
   year = "2002",
}

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