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Stereo Vision Based Ego-Motion Estimation with Sensor Supported Subset Validation
IEEE Intelligent Vehicles Symposium
We propose a method to reliably estimate the motion of a dynamic stereo camera system in the three dimensional world where observations are disturbed by high portions of independently moving objects. Robustness of the estimation process is achieved by applying an additional visual sensor. The system consists of a stereo vision sensor, acquiring optical flow and depth information of the scene and a camera with its optical axis oriented perpendicular to the road surface, measuring the speed overdoi:10.1109/ivs.2007.4290205 fatcat:7jgzfblctzf6rcurnwfn24quiq