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Paper Abstract and Keywords
Presentation 2005-03-18 13:30
Stabilizing ego-motion estimation by active wearable cameras using local bundle adjustment
Tomohiko Ikeda (Chiba Univ.), Akihiro Sugimoto (NII)
Abstract (in Japanese) (See Japanese page) 
(in English) The binocular independent fixation control is the camera control of
two mounted active cameras where each of them independently and
automatically fixates its optical axis to its own fixation point.
A method using this camera control was proposed to incrementally
estimate ego-motion from two time-series frames.
The method, however, has a problem that estimation accuracy gradually
becomes worse as the motion trajectory becomes longer and longer.
This is due to accumulation of estimation errors incurred in each
estimation step.
To keep estimation accuracy stable even for a long trajectory,
we propose to locally apply the bundle adjustment to each estimated
motion so that the modified estimation becomes geometrically consistent
with time-series frames acquired so far.
This modification realizes stable estimation of a long motion trajectory.
Keyword (in Japanese) (See Japanese page) 
(in English) ego-motion estimation / local bundle adjustment / fixation point / optical flow / active camera / / /  
Reference Info. IEICE Tech. Rep., vol. 104, no. 742, PRMU2004-255, pp. 139-144, March 2005.
Paper # PRMU2004-255 
Date of Issue 2005-03-11 (TL, PRMU) 
ISSN Print edition: ISSN 0913-5685
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Conference Information
Committee PRMU TL  
Conference Date 2005-03-17 - 2005-03-18 
Place (in Japanese) (See Japanese page) 
Place (in English)  
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Paper Information
Registration To PRMU 
Conference Code 2005-03-PRMU-TL 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Stabilizing ego-motion estimation by active wearable cameras using local bundle adjustment 
Sub Title (in English)  
Keyword(1) ego-motion estimation  
Keyword(2) local bundle adjustment  
Keyword(3) fixation point  
Keyword(4) optical flow  
Keyword(5) active camera  
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1st Author's Name Tomohiko Ikeda  
1st Author's Affiliation Chiba University (Chiba Univ.)
2nd Author's Name Akihiro Sugimoto  
2nd Author's Affiliation National Institute of Informatics (NII)
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Speaker Author-1 
Date Time 2005-03-18 13:30:00 
Presentation Time 30 minutes 
Registration for PRMU 
Paper # TL2004-87, PRMU2004-255 
Volume (vol) vol.104 
Number (no) no.740(TL), no.742(PRMU) 
Page pp.139-144 
#Pages
Date of Issue 2005-03-11 (TL, PRMU) 


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