We introduce a motion estimation algorithm that fuses visual and range data to give an unambiguous estimate of the velocity of objects visible to a camera and range sensor. Dynamic scale space is used to avoid temporal aliasing and a novel robust estimator based on Least Trimmed Squares is used to smooth results between boundaries established using range data. Simulation results (from a specially developed simulation environment) and experimental results (from an FPGA based implementation of our algorithm) show that our approach gives accurate motion estimates.


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    Titel :

    Fusion of range and vision for real-time motion estimation


    Beteiligte:
    Kolodko, J. (Autor:in) / Vlacic, L. (Autor:in)


    Erscheinungsdatum :

    2004-01-01


    Format / Umfang :

    651919 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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