Determination of Ego-Motion from Matched Points
暂无分享,去创建一个
We propose an algorithm for the estimation of the motion of a camera moving through a static environment (ie. the ego-motion) from matched points on two images. The algorithm correctly weights the observations by minimising point mis-match distances on the image-plane. Prior knowledge concerning the camera motion may also be included. The algorithm is iterative, but generally converges quickly. Results are both more accurate and more robust than closed-form solutions based on the 8-Point Algorithm [Longuet-Higgins 1981, Faugeras 1987].
[1] H. C. Longuet-Higgins,et al. A computer algorithm for reconstructing a scene from two projections , 1981, Nature.
[2] Thomas S. Huang,et al. Solving three-dimensional small-rotation motion equations: Uniqueness, algorithms, and numerical results , 1983, Computer Vision Graphics and Image Processing.