FOEを用いた車載カメラ運動パラメータの推定 [in Japanese] Determining Motion Parameters for Vehicl-Mounted Camera Using Focus of Expansion [in Japanese]
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Camera's motion parameters play a vital role in the research of autonomous vehicle's vision navigation and dynamic image sequences analysis. We propose here a fast motion parameters' estimation method with the use of stationary camera's Focus of Expansion (FOE). Contrary to general methods like using optical flow and feature matching, our approach is able to determine camera's rotation and translation parameters by using only 3 pairs of matching points. A fast matching algorithm of feature points extracted by color gradient edge detector (CGD) and localized contour sequences (LCS) is also presented in this paper. Experiments on image sequences of synthetic and real road scenes showed the of fectiveness and precision of our approach.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 119(1), 50-57, 1999-01
The Institute of Electrical Engineers of Japan