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Generalized laser three-point algorithm for motion estimation of camera-laser fusion system
2013 IEEE International Conference on Robotics and Automation
This paper presents a new structure-from-motion (SFM) technique called 'generalized laser three-point' algo rithm. It is designed to estimate the motion of the camera-laser fusion system which consists of a 2D laser sensor and multiple cameras. The laser points are projected onto the images and tracked to other frames to be used as 3D-2D correspondences. However, the typical three-point algorithms cannot estimate the motion of the system if three points are collinear. Using the laser points asdoi:10.1109/icra.2013.6630976 dblp:conf/icra/BokCK13 fatcat:4jlwyr4u4fepjlgiyxdl2q745e