Robust and real-time rotation estimation of compound omnidirectional sensor

被引：3

作者：

Thanh, Trung Ngo ^{[1
]}

Nagahara, Hajime ^{[1
]}

Sagawa, Ryusuke ^{[1
]}

Mukaigawa, Yasuhiro ^{[1
]}

Yachida, Masahiko ^{[1
]}

Yagi, Yasushi ^{[1
]}

机构：

[1] Osaka Univ, Suita, Osaka 565, Japan

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364129

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Camera ego-motion consists of translation and rotation, in which rotation can be described simply by distant features. We present a robust rotation estimation using distant features given by our compound omni-directional sensor. Features are detected by a conventional feature detector, and then distant features are identified by checking the infinity on the omni-directional image of the compound sensor. The rotation matrix is estimated between consecutive video frames using RANSAC with only distant features. Experiments with various environments show that our approach is robust and also gives reasonable accuracy in real-time.

引用

页码：4226 / +

页数：2

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