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 |
Download PDF |
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Conference Information |
Committee |
PRMU TL |
Conference Date |
2005-03-17 - 2005-03-18 |
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(See Japanese page) |
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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) |
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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 |
6 |
Date of Issue |
2005-03-11 (TL, PRMU) |
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