FOEを用いた車載カメラ運動パラメータの推定 Determining Motion Parameters for Vehicl-Mounted Camera Using Focus of Expansion
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.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 119(1), 50-57, 1999-01
The Institute of Electrical Engineers of Japan