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PAMI
2006

Pose and Motion Recovery from Feature Correspondences and a Digital Terrain Map

8 years 12 months ago
Pose and Motion Recovery from Feature Correspondences and a Digital Terrain Map
A novel algorithm for pose and motion estimation using corresponding features and a Digital Terrain Map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables the elimination of the ambiguity present in vision-based algorithms for motion recovery. As a consequence, the absolute position and orientation of a camera can be recovered with respect to the external reference frame. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. Explicit reconstruction of the 3D world is not required. When considering a number of feature points, the resulting constraints can be solved using nonlinear optimization in terms of position, orientation, and motion. Such a procedure requires an initial guess of these parameters, which can be obtained from dead-reckoning or any other source. The feasibility of the algorithm is established through extensive experimentation. Performance is compared...
Ronen Lerner, Ehud Rivlin, Héctor Rotstein
Added 14 Dec 2010
Updated 14 Dec 2010
Type Journal
Year 2006
Where PAMI
Authors Ronen Lerner, Ehud Rivlin, Héctor Rotstein
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