Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

A real-time system for epipolar geometry and ego-motion estimation

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

2 Author(s)
Bjorkman, M. ; Dept. of Numerical Anal. & Comput. Sci., R. Inst. of Technol., Stockholm, Sweden ; Eklundh, J.-O.

A visually guided mobile platform acting in a dynamic environment needs information, delivered from cues such as stereo and motion. In this paper a binocular stereo system, capable of dynamic vergence and ego-motion estimation, will be presented. The ability to dynamically verge the cameras is essential for visual tasks such as tracking, recognition and manipulation, since the computation of 3D geometry will be considerably simplified at fixation. We will show that the epipolar geometry of the presented system can be estimated in real-time. The number of degrees of freedom has been minimized, without affecting the flexibility of the system. Reconstructed 3D data is used in order to determine the ego-motion of the platform, at a very low computational cost. Finally, it will be shown how disparity maps and estimated ego-motion can facilitate the localization of independently moving objects

Published in:

Computer Vision and Pattern Recognition, 2000. Proceedings. IEEE Conference on  (Volume:2 )

Date of Conference:

2000