Egomotion estimation with large field-of-view vision
This thesis investigates the problem of egomotion estimation in a monocular, large Field-of-View (FOV) camera from two views of the scene. Our focus is on developing new constraints and algorithms that exploit the larger information content of wide FOV images and the geometry of image spheres in order to aid and simplify the egomotion recovery task. We will consider both the scenario of small or differential camera motions, as well as the more general case of discrete camera motions. Beginning...[Show more]
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