NDLI: Direct egomotion estimation

Content Provider	IEEE Xplore Digital Library
Author	Silva, C. Santos-Victor, J.
Copyright Year	1996
Description	Author affiliation: Inst. Superior Tecnico, Lisbon, Portugal (Silva, C.)
Abstract	In this paper, we address the problem of egomotion estimation for a monocular moving observer under arbitrary translation and rotation. This is a key step for the navigation of any autonomous system. The method proposed is uniquely based on the spatio-temporal image derivatives, and has O(n/sup 2/) complexity. We search the image for particular geometric properties of the normal flow, tightly connected to the egomotion parameters, in two successive steps. The /spl Psi/-line search algorithm determines the direction of the focus of expansion (FOE) and computes some information on the rotation parameters. Finally, the /spl Phi/-line search algorithm determines the FOE, and the individual values of the rotation. Various experiments with synthetic and real images are presented and discussed.
Starting Page	702
Ending Page	706
File Size	515154
Page Count	5
File Format	PDF
ISBN	081867282X
ISSN	10514651
DOI	10.1109/ICPR.1996.546115
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-08-25
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation Image motion analysis Focusing Parameter estimation Motion control Control systems Image sequences Cameras Optical computing Layout
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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