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Ego-Motion Estimation and 3D Model Refinement in Scenes with Varying Illumination
 

Summary: Ego-Motion Estimation and 3D Model Refinement in Scenes with Varying
Illumination
Amit K Agrawal and Rama Chellappa
Center for Automation Research
University of Maryland
College Park, MD 20770 USA
{aagrawal,rama}@cfar.umd.edu
Abstract
We present an iterative algorithm for robustly estimating
the ego-motion and refining and updating a coarse depth
map using surface parallax and a generalized dynamic im-
age (GDI) model. Given a coarse depth map acquired by
a range-finder or extracted from a Digital Elevation Map
(DEM), we first estimate the ego-motion by combining a
global ego-motion constraint and a local GDI model. Us-
ing the estimated camera motion and the available depth
estimate, motion of the 3D points is compensated. We uti-
lize the fact that the resulting surface parallax field is an
epipolar field and constrain its direction using the previous
motion estimates. We then estimate the magnitude of the

  

Source: Agrawal, Amit - Mitsubishi Electric Research Labs

 

Collections: Engineering