Motion parameter recovery for AGVs based on landmarks (or corners) has been widely used in stereo navigation. Existing methods use weighted least-squares algorithms to recover motion parameters, but these estimates usually yield a zigzagged vehicle trajectory. Based on the idea that vehicle motion must be constrained by the vehicle dynamics, a new method of recovering motion parameters is introduced, resulting in considerable improvement in positional accuracy. The method can also be used for scene segmentation.
Motion parameter recovery and 3D scene segmentation
09.05.1996
2 pages
Aufsatz (Zeitschrift)
Englisch
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