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Recursive Motion and Structure Estimation with Complete Error Characterization

Soatto, S. and Perona, P. and Frezza, R. and Picci, G. (1993) Recursive Motion and Structure Estimation with Complete Error Characterization. In: CVPR 1993. IEEE , New York, NY , pp. 428-433. ISBN 0-8186-3880-X http://resolver.caltech.edu/CaltechAUTHORS:20120308-151801993

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Abstract

We present an algorithm that perfom recursive estimation of ego-motion andambient structure from a stream of monocular Perspective images of a number of feature points. The algorithm is based on an Extended Kalman Filter (EKF) that integrates over time the instantaneous motion and structure measurements computed by a 2-perspective-views step. Key features of our filter are (I) global observability of the model, (2) complete on-line characterization of the uncertainty of the measurements provided by the two-views step. The filter is thus guaranteed to be well-behaved regardless of the particular motion undergone by the observel: Regions of motion space that do not allow recovery of structure (e.g. pure rotation) may be crossed while maintaining good estimates of structure and motion; whenever reliable measurements are available they are exploited. The algorithm works well for arbitrary motions with minimal smoothness assumptions and no ad hoc tuning. Simulations are presented that illustrate these characteristics.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/CVPR.1993.341095DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=341095PublisherUNSPECIFIED
Additional Information:© 1993 IEEE. Issue Date: 15-17 Jun 1993; Meeting Date: 15 Jun 1993 - 17 Jun 1993. Research sponsored by NSF grant n. 51 115, an AT & T Foundation technical special purpose grant, a donation by Dr. Tongsoo Park, and by AS1 grant n. 92-RS-103.
Funders:
Funding AgencyGrant Number
NSF51115
AT&T Foundation technical special purpose grantUNSPECIFIED
Dr. Tongsoo ParkUNSPECIFIED
ASI92-RS-103
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INSPEC Accession Number4823680
Record Number:CaltechAUTHORS:20120308-151801993
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120308-151801993
Official Citation:Soatto, S.; Perona, P.; Frezza, R.; Picci, G.; , "Recursive motion and structure estimation with complete error characterization," Computer Vision and Pattern Recognition, 1993. Proceedings CVPR '93., 1993 IEEE Computer Society Conference on , vol., no., pp.428-433, 15-17 Jun 1993 doi: 10.1109/CVPR.1993.341095
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29657
Collection:CaltechAUTHORS
Deposited By: Jason Perez
Deposited On:09 Mar 2012 18:57
Last Modified:26 Dec 2012 14:55

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