A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot

Bibliographic Details
Main Author: Armangué, Xavier
Publication Date: 2003
Other Authors: Araújo, Helder, Salvi, Joaquim
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: https://hdl.handle.net/10316/4069
https://doi.org/10.1016/S0031-3203(03)00183-3
Summary: The estimation of camera egomotion is an old problem in computer vision. Since the 1980s, many approaches based on both the discrete and the differential epipolar constraint have been proposed. The discrete case is used mainly in self-calibrated stereoscopic systems, whereas the differential case deals with a single moving camera. This article surveys several methods for 3D motion estimation unifying the mathematics convention which are then adapted to the common case of a mobile robot moving on a plane. Experimental results are given on synthetic data covering more than 0.5 million estimations. These surveyed algorithms have been programmed and are available on the Internet.
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spelling A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robotDifferential epipolar constraintEgomotionOptical flowComputer visionThe estimation of camera egomotion is an old problem in computer vision. Since the 1980s, many approaches based on both the discrete and the differential epipolar constraint have been proposed. The discrete case is used mainly in self-calibrated stereoscopic systems, whereas the differential case deals with a single moving camera. This article surveys several methods for 3D motion estimation unifying the mathematics convention which are then adapted to the common case of a mobile robot moving on a plane. Experimental results are given on synthetic data covering more than 0.5 million estimations. These surveyed algorithms have been programmed and are available on the Internet.http://www.sciencedirect.com/science/article/B6V14-492VKVF-2/1/6dfb2ce9b8a526b49aa3ea8ff1d99f242003info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleaplication/PDFhttps://hdl.handle.net/10316/4069https://hdl.handle.net/10316/4069https://doi.org/10.1016/S0031-3203(03)00183-3engPattern Recognition. 36:12 (2003) 2927-2944Armangué, XavierAraújo, HelderSalvi, Joaquiminfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2020-11-06T16:59:33Zoai:estudogeral.uc.pt:10316/4069Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T05:18:30.838218Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
title A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
spellingShingle A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
Armangué, Xavier
Differential epipolar constraint
Egomotion
Optical flow
Computer vision
title_short A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
title_full A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
title_fullStr A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
title_full_unstemmed A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
title_sort A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot
author Armangué, Xavier
author_facet Armangué, Xavier
Araújo, Helder
Salvi, Joaquim
author_role author
author2 Araújo, Helder
Salvi, Joaquim
author2_role author
author
dc.contributor.author.fl_str_mv Armangué, Xavier
Araújo, Helder
Salvi, Joaquim
dc.subject.por.fl_str_mv Differential epipolar constraint
Egomotion
Optical flow
Computer vision
topic Differential epipolar constraint
Egomotion
Optical flow
Computer vision
description The estimation of camera egomotion is an old problem in computer vision. Since the 1980s, many approaches based on both the discrete and the differential epipolar constraint have been proposed. The discrete case is used mainly in self-calibrated stereoscopic systems, whereas the differential case deals with a single moving camera. This article surveys several methods for 3D motion estimation unifying the mathematics convention which are then adapted to the common case of a mobile robot moving on a plane. Experimental results are given on synthetic data covering more than 0.5 million estimations. These surveyed algorithms have been programmed and are available on the Internet.
publishDate 2003
dc.date.none.fl_str_mv 2003
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://hdl.handle.net/10316/4069
https://hdl.handle.net/10316/4069
https://doi.org/10.1016/S0031-3203(03)00183-3
url https://hdl.handle.net/10316/4069
https://doi.org/10.1016/S0031-3203(03)00183-3
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Pattern Recognition. 36:12 (2003) 2927-2944
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv aplication/PDF
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
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collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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