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

✍ Scribed by Yasuharu Hayami; Masanobu Yamamoto

• Book ID: 101293774
• Publisher: John Wiley and Sons
• Year: 1998
• Tongue: English
• Weight: 415 KB
• Volume: 81
• Category: Article
• ISSN: 1042-0967
• DOI: 10.1002/(sici)1520-6440(199806)81:6<27::aid-ecjc4>3.0.co;2-z

✦ Synopsis

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.