Robust and real-time rotation estimation of compound omnidirectional sensor

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 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 languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4226-4231
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

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

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    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