Home/An empirical comparison of methods for image-base motion estimation

An empirical comparison of methods for image-base motion estimation

Henele Adams, Sanjiv Singh and Dennis Strelow
Conference Paper, Carnegie Mellon University, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002

Download Publication (PDF)

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.

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.

BibTeX Reference
@conference{Adams-2002-8586,
title = {An empirical comparison of methods for image-base motion estimation},
author = {Henele Adams and Sanjiv Singh and Dennis Strelow},
booktitle = {2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)},
school = {Robotics Institute , Carnegie Mellon University},
month = {October},
year = {2002},
address = {Pittsburgh, PA},
}
2017-09-13T10:44:55+00:00