A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2010; you can also visit the original URL.
The file type is
A common prerequisite for many vision-based driver assistance systems is the knowledge of the vehicle's own movement. In this paper we propose a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images. Our method is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed. The only assumption we make is a known camera geometry, where the calibration may also vary over time.doi:10.1109/ivs.2010.5548123 dblp:conf/ivs/KittGL10 fatcat:z3cyiz3skzfv7clkr2lwxm3mxu