Robust and real-time egomotion estimation using a compound omnidirectional sensor

Trung Ngo Thanh; Hajime Nagahara; Ryusuke Sagawa; Yasuhiro Mukaigawa; Masahiko Yachida; Yasushi Yagi

doi:10.1109/ROBOT.2008.4543255

Robust and real-time egomotion estimation using a compound omnidirectional sensor

Trung Ngo Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

Abstract

We propose a new egomotion estimation algorithm for a compound omnidirectional camera. Image features are detected by a conventional feature detector and then quickly classified into near and far features by checking infinity on the omnidirectional image of the compound omnidirectional sensor. Egomotion estimation is performed in two steps: first, rotation is recovered using far features; then translation is estimated from near features using the estimated rotation. RANSAC is used for estimations of both rotation and translation. Experiments in various environments show that our approach is robust and provides good accuracy in real-time for large motions.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	492-497
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2008.4543255
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: May 19 2008 → May 23 2008

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/Territory	United States
City	Pasadena, CA
Period	5/19/08 → 5/23/08

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2008.4543255

Cite this

Thanh, T. N., Nagahara, H., Sagawa, R., Mukaigawa, Y., Yachida, M., & Yagi, Y. (2008). Robust and real-time egomotion estimation using a compound omnidirectional sensor. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 492-497). Article 4543255 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543255

Robust and real-time egomotion estimation using a compound omnidirectional sensor. / Thanh, Trung Ngo; Nagahara, Hajime; Sagawa, Ryusuke et al.
2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 492-497 4543255 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Thanh, TN, Nagahara, H, Sagawa, R, Mukaigawa, Y, Yachida, M & Yagi, Y 2008, Robust and real-time egomotion estimation using a compound omnidirectional sensor. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543255, Proceedings - IEEE International Conference on Robotics and Automation, pp. 492-497, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543255

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abstract = "We propose a new egomotion estimation algorithm for a compound omnidirectional camera. Image features are detected by a conventional feature detector and then quickly classified into near and far features by checking infinity on the omnidirectional image of the compound omnidirectional sensor. Egomotion estimation is performed in two steps: first, rotation is recovered using far features; then translation is estimated from near features using the estimated rotation. RANSAC is used for estimations of both rotation and translation. Experiments in various environments show that our approach is robust and provides good accuracy in real-time for large motions.",

author = "Thanh, {Trung Ngo} and Hajime Nagahara and Ryusuke Sagawa and Yasuhiro Mukaigawa and Masahiko Yachida and Yasushi Yagi",

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AU - Yachida, Masahiko

AU - Yagi, Yasushi

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AB - We propose a new egomotion estimation algorithm for a compound omnidirectional camera. Image features are detected by a conventional feature detector and then quickly classified into near and far features by checking infinity on the omnidirectional image of the compound omnidirectional sensor. Egomotion estimation is performed in two steps: first, rotation is recovered using far features; then translation is estimated from near features using the estimated rotation. RANSAC is used for estimations of both rotation and translation. Experiments in various environments show that our approach is robust and provides good accuracy in real-time for large motions.

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ER -

Robust and real-time egomotion estimation using a compound omnidirectional sensor

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All Science Journal Classification (ASJC) codes

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