Robust and Real-time Rotation Estimation of Compound Omnidirectional Sensor

— Camera ego-motion consists of translation and rotation, in which rotation can be described simply by distant features. We present a robust rotation estimation using distant features given by our compound omni-directional sensor. Features are detected by a conventional feature detector, and then distant features are identified by checking the infinity on the omni-directional image of the compound sensor. The rotation matrix is estimated between consecutive video frames using RANSAC with only distant features. Experiments with various environments show that our approach is robust and also gives reasonable accuracy in real-time.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Trung Ngo Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi
• Keywords: Compound Omni-directional Sensor, Distant Features, ICRA 2007, Robotics, Robust Rotation Estimation