Direct motion stereo for passive navigation

Shahriar Negahdaripour, Brian Y. Hayashi, Yiannis Aloimonos

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

We address the problem of motion recovery for a head-eye system from stereo image sequences. Two types of motions, the translation of the vehicle and the panning motion of the head, are considered. We show how these motions and the depth map of the scene can be estimated directly from the measurements of image gradients and time derivatives in a sequence of stereo images. There is no need to estimate image motion, track a scene feature over time, or establish point correspondences in a stereo image pair. We present the results of various experiments with real scenes.

Original languageEnglish
Pages (from-to)829-843
Number of pages15
JournalIEEE Transactions on Robotics and Automation
Volume11
Issue number6
DOIs
StatePublished - Dec 1 1995

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Navigation
Derivatives
Recovery
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Direct motion stereo for passive navigation. / Negahdaripour, Shahriar; Hayashi, Brian Y.; Aloimonos, Yiannis.

In: IEEE Transactions on Robotics and Automation, Vol. 11, No. 6, 01.12.1995, p. 829-843.

Research output: Contribution to journalArticle

Negahdaripour, Shahriar ; Hayashi, Brian Y. ; Aloimonos, Yiannis. / Direct motion stereo for passive navigation. In: IEEE Transactions on Robotics and Automation. 1995 ; Vol. 11, No. 6. pp. 829-843.
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