Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
IEEE TRANSACTIONS ON IMAGE PROCESSING, 2004 1 Robust Ego-Motion Estimation and 3D Model
 

Summary: IEEE TRANSACTIONS ON IMAGE PROCESSING, 2004 1
Robust Ego-Motion Estimation and 3D Model
Refinement Using Surface Parallax
Amit Agrawal*, Student Member, IEEE, and Rama Chellappa, Fellow, IEEE
Abstract-- We present an iterative algorithm for robustly esti-
mating the ego-motion and refining and updating a coarse depth
map using parametric surface parallax models and brightness
derivatives extracted from an image pair. Given a coarse depth
map acquired by a range-finder or extracted from a Digital
Elevation Map (DEM), ego-motion is estimated by combining
a global ego-motion constraint and a local brightness constancy
constraint. Using the estimated camera motion and the available
depth estimate, motion of the 3D points is compensated. We
utilize the fact that the resulting surface parallax field is an
epipolar field, and knowing its direction from the previous
motion estimates, estimate its magnitude and use it to refine
the depth map estimate. The parallax magnitude is estimated
using a constant parallax model (CPM) which assumes a smooth
parallax field and a depth based parallax model (DBPM), which
models the parallax magnitude using the given depth map. We

  

Source: Agrawal, Amit - Mitsubishi Electric Research Labs

 

Collections: Engineering