A novel, nonlinear algorithm is introduced for the estimation of rigid camera motion from instantaneous velocity measurements in the calibrated case. It is shown that by minimizing an approximation to the image-reprojection error rather than the actual error, as done by the optimal algorithms, the proposed algorithm achieves largely increased robustness to local minima at the cost of a slightly decreased accuracy.
Robust instantaneous rigid motion estimation
2005-01-01
472314 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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