Graphics enhanced version of this site

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

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [168 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Associated center: FRC

Number of pages: 6

H. Adams, S. Singh, and D. 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.

@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"
}