Ego-Motion Estimation and 3D Model Refinement in Scenes with Varying Illumination


We present an iterative algorithm for robustly estimating the ego-motion and refining and updating a coarse depth map using surface parallax and a generalized dynamic image (GDI) model. Given a coarse depth map acquired by a range-finder or extracted from a Digital Elevation Map (DEM), we first estimate the ego-motion by combining a global ego-motion… (More)
DOI: 10.1109/ACVMOT.2005.45

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