NDLI: Transforming camera geometry to a virtual downward-looking camera: robust ego-motion estimation and ground-layer detection

Content Provider	IEEE Xplore Digital Library
Author	Qifa Ke Kanade, T.
Copyright Year	2003
Description	Author affiliation: Comput. Sci. Dept., Carnegie Mellon Univ., Pittsburgh, PA, USA (Qifa Ke; Kanade, T.)
Abstract	This paper presents a robust method to solve two coupled problems, ground-layer detection and vehicle ego-motion estimation, which appear in visual navigation. We virtually rotate the camera to the downward-looking pose in order to exploit the fact that the vehicle motion is roughly constrained to be planar motion on the ground. This camera geometry transformation together with the planar motion constraint will: 1) eliminate the ambiguity between rotational and translation ego-motion parameters, and 2) improve the Hessian matrix condition in the direct motion estimation process. The virtual downward-looking camera enables us to estimate the planar ego-motions even for small image patches. Such local measurements are then combined together, by a robust weighting scheme based on both ground plane geometry and motion compensated intensity residuals, for a global ego-motion estimation and ground plane detection. We demonstrate the effectiveness of our method by experiments on both synthetic and real data.
Sponsorship	IEEE Comput. Soc Tech. Committee on Pattern Anal. & Machine Intelligence (TCPAMI)
File Size	807097
File Format	PDF
ISBN	0769519008
ISSN	10636919
DOI	10.1109/CVPR.2003.1211380
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Geometry Robustness Vehicle detection Land vehicles Motion estimation Navigation Road vehicles Transmission line matrix methods Motion measurement
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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