Estimating 3D Egomotion from Perspective Image Sequence

@article{Burger1990Estimating3E,
  title={Estimating 3D Egomotion from Perspective Image Sequence},
  author={Wilhelm Burger and Bir Bhanu},
  journal={IEEE Trans. Pattern Anal. Mach. Intell.},
  year={1990},
  volume={12},
  pages={1040-1058}
}
  • W. Burger, B. Bhanu
  • Published 1 November 1990
  • Computer Science
  • IEEE Trans. Pattern Anal. Mach. Intell.
The computation of sensor motion from sets of displacement vectors obtained from consecutive pairs of images is discussed. The problem is investigated with emphasis on its application to autonomous robots and land vehicles. The effects of 3D camera rotation and translation upon the observed image are discussed, particularly the concept of the focus of expansion (FOE). It is shown that locating the FOE precisely is difficult when displacement vectors are corrupted by noise and errors. A more… 
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