Published June 1995
| Published
Book Section - Chapter
Open
Visual navigation using a single camera
- Creators
- Bouguet, Jean-Yves
-
Perona, Pietro
Chicago
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Abstract
We assess the usefulness of monocular recursive motion estimation techniques for vehicle navigation in the absence of a model for the environment. For this purpose we extend a recently proposed recursive motion estimator, the Essential filter, to handle scale estimation. We examine experimentally the accuracy with which the motion and position of the vehicle may be computed on an 8000 frame indoors sequence. The issues of sampling time frequency and number of necessary features in the environment are addressed systematically.
Additional Information
© 1995 IEEE. Date of Current Version: 06 August 2002. This work is supported in part by the California Institute of Technology; the Office of Naval Research grant ONR N00014-93-1-0990; an NSF National Young Investigator Award; the Center for Neuromorphic Systems Engineering as a part of the National Science Foundation Engineering Research Center Program; and by the California Trade and Commerce Agency, Office of Strategic Technology. We wish to thank all the persons that helped us throughout this work, in especially Stefano Soatto for the very useful discussions, and Luis Goncalves, Mario E. Munich and Enrico Ursella for their great help in setting up the experiment.Attached Files
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Additional details
- Eprint ID
- 29307
- Resolver ID
- CaltechAUTHORS:20120215-132530862
- Caltech
- Office of Naval Research (ONR)
- N00014-93-1-0990
- NSF National Young Investigator Award
- Center for Neuromorphic Systems Engineering (CNSE)
- California Trade and Commerce Agency, Office of Strategic Technology
- Created
-
2012-02-24Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 5028074