Pose and ego-motion from two perspective views from a moving camera

被引：0

作者：

Hayami, Y ^{[1
]}

Yamamoto, M ^{[1
]}

机构：

[1] Niigata Univ, Dept Informat Engn, Niigata 95021, Japan

来源：

ELECTRONICS AND COMMUNICATIONS IN JAPAN PART III-FUNDAMENTAL ELECTRONIC SCIENCE | 1998年 / 81卷 / 06期

关键词：

dynamic image analysis; camera pose; ego-motion; nonlinear equation; analytical solution;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a method where the pose and ego-motion of the camera are determined from the dynamic images from the moving camera. The camera is installed on a mobile robot running on a flat floor so that the optical axis is parallel to the floor plane. When the matching between the feature points are obtained by the motion of the camera and the corresponding shape model of the scene is given, an equation is derived by which the pose and the ego-motion of the camera are simultaneously determined. Then, the solution is analytically derived. The condition for the unique determination of the solution in this process is given. (C) 1998 Scripta Technica.

引用

页码：27 / 38

页数：12

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