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Wide-Area Egomotion Estimation from Known 3D Structure

Author(s)
Koch, Olivier; Teller, Seth
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Other Contributors
Robotics, Vision & Sensor Networks
Advisor
Seth Teller
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Abstract
We describe an algorithm that takes as inputs a coarse3D model of an environment, and a video sequence acquiredwithin the environment, and produces as output an estimateof the cameraÂ’s 6-DOF egomotion expressed in the coordinatesof the 3D model. Our method has several novelaspects: it performs line-based structure-from-motion; italigns the local line constellation to the known model; andit uses off-line visibility analysis to dramatically acceleratethe alignment process.We present simulation results demonstrating themethodÂ’s operation in a multi-room environment. We showthat the method can estimate metric egomotion accuratelyand could be used for for many minutes of operation andthousands of video frames.
Date issued
2006-01-09
URI
http://hdl.handle.net/1721.1/30605
Other identifiers
MIT-CSAIL-TR-2006-003
Series/Report no.
Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory
Keywords
computer vision,visual geometry,omnivision,3D

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