Estimating ego-motion in panoramic image sequences with inertial measurements
Date
2011
Authors
Schill, Felix
Mahony, Robert
Corke, Peter Ian
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Volume Title
Publisher
Springer
Abstract
This paper considers the problem of estimating the focus of expansion of optical flow fields from panoramic image sequences due to ego-motion of the camera. The focus of expansion provides a measurement of the direction of motion of the vehicle that is a
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Keywords
Keywords: Aerial robots; Angular rotations; Data points; Direction of motion; Ego-motion; Focus of expansions; Inertial measurement unit; Inertial measurements; k-Means algorithm; Least Square; Newton algorithm; Obstacle avoidance algorithms; Optic flow; Optimisati
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Source
International Symposium on Robotics Research (ISRR 2011) proceedings
Type
Conference paper
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2037-12-31
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