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Differential epipolar constraint in mobile robot egomotion estimation
Armangué Quintana, Xavier; Araújo, Helder; Salvi Mas, Joaquim
The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given
Geometria computacional
Robots mòbils
Visió per ordinador
Computer vision
Computational geometry
Mobile robots
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