ML Anthology

Recursive Motion and Structure Estimation with Complete Error Characterization

Stefano Soatto, Pietro Perona, Ruggero Frezza, Giorgio Picci
CVPR 1993 pp. 428-433
doi:10.1109/CVPR.1993.341095 /cvpr/1993/soatto1993cvpr-recursive/

Abstract

An algorithm that performs recursive estimation of ego-motion and ambient structure from a stream of monocular perspective images of a number of feature points is presented. The algorithm is based on an extended Kalman filter (EKF) that integrates over time the instantaneous motion and structure measurements computed by a two-perspective-views step. The key features of the authors' filter are: global observability of the model, and complete online characterization of the uncertainty of the measurements provided by the two-views step. The filter is thus guaranteed to be well-behaved regardless of the particular motion undergone by the observer. Regions of motion space that do not allow recovery of structure (e.g., pure rotation) may be crossed while maintaining good estimates of structure and motion. Whenever reliable measurements are available they are exploited. The algorithm works well for arbitrary motions with minimal smoothness assumptions and no ad hoc tuning. Simulations are presented that illustrate these characteristics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

PDF CVPR Semantic Scholar

Cite

Text

Soatto et al. "Recursive Motion and Structure Estimation with Complete Error Characterization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1993. doi:10.1109/CVPR.1993.341095

Markdown

[Soatto et al. "Recursive Motion and Structure Estimation with Complete Error Characterization." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1993.](https://mlanthology.org/cvpr/1993/soatto1993cvpr-recursive/) doi:10.1109/CVPR.1993.341095

BibTeX

@inproceedings{soatto1993cvpr-recursive,
  title     = {{Recursive Motion and Structure Estimation with Complete Error Characterization}},
  author    = {Soatto, Stefano and Perona, Pietro and Frezza, Ruggero and Picci, Giorgio},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1993},
  pages     = {428-433},
  doi       = {10.1109/CVPR.1993.341095},
  url       = {https://mlanthology.org/cvpr/1993/soatto1993cvpr-recursive/}
}