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Outlier rejection by oriented tracks to aid pose estimation from video

Summary: Outlier rejection by oriented tracks to aid pose
estimation from video
Brad Grinstead a,*, Andreas Koschan a
, Andrei Gribok a
, Mongi A. Abidi a
, David Gorsich b
Imaging, Robotics, and Intelligent Systems Laboratory, Department of Electrical and Computer Engineering,
The University of Tennessee, 334 Ferris Hall, Knoxville, TN 37996, United States
U.S. Army RDECOM Tank-Automotive Research, Development and Engineering Center, Warren, MI 48397-5000, USA
Received 12 April 2004; received in revised form 27 May 2005
Available online 31 August 2005
Communicated by T.K. Ho
This paper introduces a method for rejecting the false matches of points between successive views in a video sequence used to perform
Pose from Motion for a mobile sensing platform. Typical methods for pose estimation require point correspondences to estimate the
epipolar geometry between the two views. Algorithms for determining these correspondences invariably output false matches along with
the good. We present an algorithm for identifying and removing these mismatches for scenes generated by a mobile scanning platform.
The algorithm utilizes the motion characteristics of a rear-wheel drive sensing platform to identify correct point matches through their


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee


Collections: Computer Technologies and Information Sciences