An empirical comparison of methods for image-base motion estimation - Robotics Institute Carnegie Mellon University

An empirical comparison of methods for image-base motion estimation

Henele Adams, Sanjiv Singh, and Dennis Strelow
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 123 - 128, September, 2002

Abstract

This paper presents a comparison between methods that estimate motion of a camera from a sequence of video images. We have implemented two methods?a homography based method that assumes planar environments, and shape-from-motion, a general method that can deal with a fully three dimensional world. Both methods have been formulated in an iterative, online form to produce estimates of camera motion. We discuss a trade-off in accuracy and run time efficiency based on experimental results for these two general methods in relation to ground truth. We show how a variation of the homography method can produce accurate results in some cases when the environment is non-planar, with low computational cost.

BibTeX

@conference{Adams-2002-8586,
author = {Henele Adams and Sanjiv Singh and Dennis Strelow},
title = {An empirical comparison of methods for image-base motion estimation},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2002},
month = {September},
volume = {1},
pages = {123 - 128},
}