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Estimating ego-motion in panoramic image sequences with inertial measurements

Date

Authors

Schill, Felix

Mahony, Robert

Corke, Peter Ian

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

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

URI

http://hdl.handle.net/1885/22666

Collections

ANU Research Publications

Source

International Symposium on Robotics Research (ISRR 2011) proceedings

Type

Conference paper

DOI

10.1007/978-3-642-19457-3_6

Restricted until

2037-12-31

Downloads

File

Description

01_Schill_Estimating_ego-motion_in_2011.pdf (342.36 KB)

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