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Ego-motion estimation using rectified stereo and bilateral transfer function

Panin, Giorgio and Oumer, Nassir W. (2012) Ego-motion estimation using rectified stereo and bilateral transfer function. Advances in Visual Computing, 7432, pp. 458-469. Springer. ISBN 978-3-642-33191-6

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Official URL: http://www.springer.com/computer/image+processing/book/978-3-642-33190-9

Abstract

We describe an ego-motion algorithm based on dense spatio-temporal correspondences, using semi-global stereo matching (SGM) and bilateral image warping in time. The main contribution is an improvement in accuracy and robustness of such techniques, by taking care of speed and numerical stability, while employing twice the structure and data for the motion estimation task, in a symmetric way. In our approach we keep the tasks of structure and motion estimation separated, respectively solved by the SGM and by our pose estimation algorithm. Concerning the latter, we show the benefits introduced by our rectified, bilateral formulation, that provides at the same time more robustness to noise and disparity errors, at the price of a moderate increase in computational complexity, further reduced by an improved Gauss-Newton descent.

Item URL in elib:https://elib.dlr.de/79873/
Document Type:Article
Title:Ego-motion estimation using rectified stereo and bilateral transfer function
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panin, Giorgiogiorgio.panin (at) dlr.deUNSPECIFIED
Oumer, Nassir W.nassir.oumer (at) dlr.deUNSPECIFIED
Date:July 2012
Journal or Publication Title:Advances in Visual Computing
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:7432
Page Range:pp. 458-469
Publisher:Springer
Series Name:Lecture Notes in Computer Science
ISBN:978-3-642-33191-6
Status:Published
Keywords:SLAM, stereo motion estimation, optical navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Panin, Giorgio
Deposited On:19 Dec 2012 11:11
Last Modified:31 Jul 2019 19:39

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