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In this paper, we assume the platform with visual observer is moved on flat ground and a constrained camera-platform configuration. The constrained camera-platform is used to simplify the camera motion model. Based on the assumption and simplified camera- platform configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion...
It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24]. Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation...
The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration,...
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