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Visual navigation using a single camera

Bouguet, Jean-Yves and Perona, Pietro (1995) Visual navigation using a single camera. In: Proceedings of the Fifth International Conference on Computer Vision. IEEE Computer Society , Los Alamitos, CA, pp. 645-652. ISBN 0-8186-7042-8

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We assess the usefulness of monocular recursive motion estimation techniques for vehicle navigation in the absence of a model for the environment. For this purpose we extend a recently proposed recursive motion estimator, the Essential filter, to handle scale estimation. We examine experimentally the accuracy with which the motion and position of the vehicle may be computed on an 8000 frame indoors sequence. The issues of sampling time frequency and number of necessary features in the environment are addressed systematically.

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Additional Information:© 1995 IEEE. Date of Current Version: 06 August 2002. This work is supported in part by the California Institute of Technology; the Office of Naval Research grant ONR N00014-93-1-0990; an NSF National Young Investigator Award; the Center for Neuromorphic Systems Engineering as a part of the National Science Foundation Engineering Research Center Program; and by the California Trade and Commerce Agency, Office of Strategic Technology. We wish to thank all the persons that helped us throughout this work, in especially Stefano Soatto for the very useful discussions, and Luis Goncalves, Mario E. Munich and Enrico Ursella for their great help in setting up the experiment.
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Office of Naval Research (ONR)N00014-93-1-0990
NSF National Young Investigator Award UNSPECIFIED
Center for Neuromorphic Systems Engineering (CNSE)UNSPECIFIED
California Trade and Commerce Agency, Office of Strategic TechnologyUNSPECIFIED
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INSPEC Accession Number5028074
Record Number:CaltechAUTHORS:20120215-132530862
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Official Citation:Bouguet, J.-Y.; Perona, P.; , "Visual navigation using a single camera," Computer Vision, 1995. Proceedings., Fifth International Conference on , vol., no., pp.645-652, 20-23 Jun 1995 doi: 10.1109/ICCV.1995.466877 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29307
Deposited By: Tony Diaz
Deposited On:24 Feb 2012 17:33
Last Modified:26 Dec 2012 14:50

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