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Computation of Ego-Motion and Structure from Visual and Inertial Sensors Using the Vertical Cue

Thierry Viéville, Emmanuelle Clergue, P. E. Dos Santos Facao
ICCV 1993 pp. 591-598
doi:10.1109/ICCV.1993.378157 /iccv/1993/vieville1993iccv-computation/

Abstract

The authors develop a method of recovery of some aspects of the 3-D structure and motion of a scene in the case of a virtual moving observer with visual and odometric sensors. This observer attempts to build a 3-D depth and kinematic map of its environment, which can obtain fixed or moving objects. The development and implementation of some layers of a line-segment based module are described to recover ego-motion while building a 3-D map of the environment in which the absolute vertical is taken into account. Given a monocular sequence of images and 2-D-line-segments in this sequence, the goal is to reduce the disparity between two frames in such a way that 3-D vision is simplified, while an initial value for the 3-D rotation is provided. Using the vertical as a basic cue for 3-D-orientation tremendously simplifies and enrichs the structure from motion paradigm, but the usual equations have to be worked out in a different way.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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Cite

Text

Viéville et al. "Computation of Ego-Motion and Structure from Visual and Inertial Sensors Using the Vertical Cue." IEEE/CVF International Conference on Computer Vision, 1993. doi:10.1109/ICCV.1993.378157

Markdown

[Viéville et al. "Computation of Ego-Motion and Structure from Visual and Inertial Sensors Using the Vertical Cue." IEEE/CVF International Conference on Computer Vision, 1993.](https://mlanthology.org/iccv/1993/vieville1993iccv-computation/) doi:10.1109/ICCV.1993.378157

BibTeX

@inproceedings{vieville1993iccv-computation,
  title     = {{Computation of Ego-Motion and Structure from Visual and Inertial Sensors Using the Vertical Cue}},
  author    = {Viéville, Thierry and Clergue, Emmanuelle and Facao, P. E. Dos Santos},
  booktitle = {IEEE/CVF International Conference on Computer Vision},
  year      = {1993},
  pages     = {591-598},
  doi       = {10.1109/ICCV.1993.378157},
  url       = {https://mlanthology.org/iccv/1993/vieville1993iccv-computation/}
}