Year: 2010
Type: conference-paper
Abstract: This paper demonstrates the application of a robust form of pose estimation and scene re-construction using data from camera images. We demonstrate results that suggest the ability of the algorithm to rival methods of RANSAC-based pose estimation polished by bundle ad-justment in terms of solution robustness, speed and accuracy, even when given poor initiali-sations. Our simulated results show the be-haviour of the algorithm in a number of novel simulated scenarios reflective of real world cases that show the ability of the algorithm to han-dle large observation noise and difficult recon-struction scenes. These results have a number of implications for the vision and robotics com-munity, and show that the application of visual motion estimation on robotic platforms in an online fashion is approaching real-world feasi-bility. 1
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1561381789