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Motion estimation for an unknown parameters stereo camera rig is an important topic in the study of computer vision. This paper have proposed a method based on Euclidean reconstruction. Firstly, some feature points are extracted and matched. Then, they are reconstructed into the points in the 3D coordinates up to a scale, which is the length of the baseline. The unknown focal length is the key parameter...
In this paper, a new method for 3D reconstruction of urban building based on computer vision was presented. Sequence of images was captured by a single camera. Feature points in the images were firstly extracted and tracked, and then the trajectories were analyzed. Intrinsic and external parameters of camera were derived from self-calibration, and then 3D information of objective building was finally...
Obstacle detection is very crucial for mobile robots. The algorithm presented in this paper makes use of motion cues in the video streams. Firstly, we calculate optical flow at feature points. Then rotation of the camera and FOE (focal of expansion) are evaluated separately. Rotation and FOE value are refined according to an iterative linear method. Finally, we get inverse TTC (time to contact) with...
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