Robust and real-time rotation estimation of compound omnidirectional sensor

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

doi:10.1109/ROBOT.2007.364129

Robust and real-time rotation estimation of compound omnidirectional sensor

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

Real world robotics

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

6 Citations (Scopus)

Abstract

Camera ego-motion consists of translation and rotation, in which rotation can be described simply by distant features. We present a robust rotation estimation using distant features given by our compound omni-directional sensor. Features are detected by a conventional feature detector, and then distant features are identified by checking the infinity on the omni-directional image of the compound sensor. The rotation matrix is estimated between consecutive video frames using RANSAC with only distant features. Experiments with various environments show that our approach is robust and also gives reasonable accuracy in real-time.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	4226-4231
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.364129
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

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

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2007.364129

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Thanh, T. N., Nagahara, H., Sagawa, R., Mukaigawa, Y., Yachida, M., & Yagi, Y. (2007). Robust and real-time rotation estimation of compound omnidirectional sensor. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4226-4231). [4209747] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364129

Robust and real-time rotation estimation of compound omnidirectional sensor. / Thanh, Trung Ngo; Nagahara, Hajime; Sagawa, Ryusuke et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 4226-4231 4209747 (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 2007, Robust and real-time rotation estimation of compound omnidirectional sensor. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209747, Proceedings - IEEE International Conference on Robotics and Automation, pp. 4226-4231, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.364129

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AU - Yachida, Masahiko

AU - Yagi, Yasushi

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AB - Camera ego-motion consists of translation and rotation, in which rotation can be described simply by distant features. We present a robust rotation estimation using distant features given by our compound omni-directional sensor. Features are detected by a conventional feature detector, and then distant features are identified by checking the infinity on the omni-directional image of the compound sensor. The rotation matrix is estimated between consecutive video frames using RANSAC with only distant features. Experiments with various environments show that our approach is robust and also gives reasonable accuracy in real-time.

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Robust and real-time rotation estimation of compound omnidirectional sensor

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