Robust Instantaneous Rigid Motion Estimation

K. Pauwels, M.M. Van Hulle
2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05)  
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. * K.P. and M.M.
doi:10.1109/cvpr.2005.308 dblp:conf/cvpr/PauwelsH05 fatcat:ayuxcfunajbfnhdp6z3rubxtvu