Three-dimensional ego-motion estimation from motion fields observed with multiple cameras

✍ Scribed by Yong-Sheng Chen; Lin-Gwo Liou; Yi-Ping Hung; Chiou-Shann Fuh

• Book ID: 104161394
• Publisher: Elsevier Science
• Year: 2001
• Tongue: English
• Weight: 368 KB
• Volume: 34
• Category: Article
• ISSN: 0031-3203
• DOI: 10.1016/s0031-3203(00)00092-3

✦ Synopsis

In this paper, we present a robust method to estimate the three-dimensional ego-motion of an observer moving in a static environment. This method combines the optical #ow "elds observed with multiple cameras to avoid the ambiguity of 3-D motion recovery due to small "eld of view and small depth variation in the "eld of view. Two residual functions are proposed to estimate the ego-motion for di!erent situations. In the non-degenerate case, both the direction and the scale of the three-dimensional rotation and translation can be obtained. In the degenerate case, rotation can still be obtained but translation can only be obtained up to a scale factor. Both the number of cameras and the camera placement a!ect the accuracy of the estimated ego-motion. We compare di!erent camera con"gurations through simulation. Some results of real-world experiments are also given to demonstrate the bene"ts of our method.