By Topic

Computation of ego-motion and structure from visual and inertial sensors using the vertical cue

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Vieville, T. ; INRIA Sophia, Valbonne, France ; Clergue, E. ; Facao, P.E.D.S.

The authors develop a method of recovery of some aspects of the 3-D structure and motion of a scene in the case of a virtual moving observer with visual and odometric sensors. This observer attempts to build a 3-D depth and kinematic map of its environment, which can obtain fixed or moving objects. The development and implementation of some layers of a line-segment based module are described to recover ego-motion while building a 3-D map of the environment in which the absolute vertical is taken into account. Given a monocular sequence of images and 2-D-line-segments in this sequence, the goal is to reduce the disparity between two frames in such a way that 3-D vision is simplified, while an initial value for the 3-D rotation is provided. Using the vertical as a basic cue for 3-D-orientation tremendously simplifies and enrichs the structure from motion paradigm, but the usual equations have to be worked out in a different way

Published in:

Computer Vision, 1993. Proceedings., Fourth International Conference on

Date of Conference:

11-14 May 1993