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Egomotion estimation of a range camera using the space envelope
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
doi:10.1109/tsmcb.2003.814297
pmid:18238222
fatcat:lojge6sd3rc6zjwkhkskyi4kgi