DIRECT PASSIVE NAVIGATION.

Shahriar Negahdaripour, Berthold K P Horn

Research output: Contribution to journalArticle

144 Citations (Scopus)

Abstract

The authors show how to recover the motion of an observer relative to a planar surface from image brightness derivatives. They compute the spatial and temporal brightness gradients (at a minimum of eight points). Two iterative schemes for solving nine nonlinear equations in terms of the motion and surface parameters that are derived from a least-squares formulation are presented. An initial pass over the relevant image region is used to accumulate a number of moments of the image brightness derivatives. All of the quantities used in the iteration are efficiently computed from these totals without the need to refer back to the image. 10 refs.

Original languageEnglish
Pages (from-to)168-176
Number of pages9
JournalIEEE Transactions on Pattern Analysis and Machine Intelligence
VolumePAMI-9
Issue number1
StatePublished - Jan 1 1987
Externally publishedYes

Fingerprint

Navigation
Luminance
Brightness
Derivatives
Nonlinear equations
Derivative
Motion
Accumulate
Iterative Scheme
Least Squares
Observer
Nonlinear Equations
Gradient
Moment
Iteration
Formulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

DIRECT PASSIVE NAVIGATION. / Negahdaripour, Shahriar; Horn, Berthold K P.

In: IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-9, No. 1, 01.01.1987, p. 168-176.

Research output: Contribution to journalArticle

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