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Author Olson, Clark F. ♦ Matthies, Larry H. ♦ Schoppers, Marcel ♦ Maimone, Mark W.
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Robust Stereo Ego-motion ♦ Super-linear Error ♦ Orientation Error ♦ Promising Technique ♦ Prototype Mar Rover ♦ Observer Motion ♦ Image Sequence ♦ Long Distance Navigation ♦ Long Distance ♦ Several Method ♦ Camera Motion ♦ Maximum-likelihood Stereo Egomotion Method ♦ Accurate Positioning ♦ Robust System ♦ Stereo Image Sequence ♦ Error Growth ♦ Stereo Pair ♦ Several Mechanism ♦ Absolute Orientation Sensor
Description Several methods for computing observer motion from monocular and stereo image sequences have been proposed. However, accurate positioning over long distances requires a higher level of robustness than previously achieved. This paper describes several mechanisms for improving robustness in the context of a maximum-likelihood stereo egomotion method. We demonstrate that even a robust system will accumulate super-linear error in the distance traveled due to increasing orientation errors. However, when an absolute orientation sensor is incorporated, the error growth is reduced to linear in the distance traveled, and grows much more slowly in practice. Our experiments, including a trial with 210 stereo pairs, indicate that these techniques can achieve errors below 1% of the distance traveled. This method has been implemented to run on-board a prototype Mars rover. 1 Introduction The computation of camera motion from an image sequence (called ego-motion) is a promising technique for improv...
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2000-01-01