Egomotion estimation of a range camera using the space envelope

A. Hoover, D. Goldgof, K. Bowyer
2003 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
In this work we present a method to compute the egomotion of a range camera using the space envelope. The space envelope is a geometric model that provides more information than a simple segmentation for correspondences and motion estimation. We describe a novel variation of the maximal matching algorithm that matches surface normals to find correspondences. These correspondences are used to compute rotation and translation estimates of the egomotion. We demonstrate our methods on two image
more » ... ences containing 70 images. We also discuss the cases where our methods fail, and additional possible methods for exploiting the space envelope.
doi:10.1109/tsmcb.2003.814297 pmid:18238222 fatcat:lojge6sd3rc6zjwkhkskyi4kgi