EKF-based recursive dual estimation of structure & motion from stereo data

Hongshcng Zhang, Shahriar Negahdaripour

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Extended Kalman filters (EKF) have been proposed to estimate ego-motion and to recursively update scene structure in the form of 3-D positions of selected prominent features from motion and stereo sequences. Previous methods typically accommodate no more than a few dozen features for real-time processing. To maintain motion estimation accuracy, this calls for high contrast images to compute image feature locations with precision. Within manmade environments, various prominent corner points exist that can be extracted and tracked with required accuracy. However, prominent features are more difficult to localize precisely in natural scenes. Statistically, more feature points become necessary to maintain the same level of motion estimation accuracy and robustness. However, this imposes a computational burden beyond the capability of EKF-based techniques for real-time processing. A sequential dual EKF estimator utilizing stereo data is proposed for improved computation efficiency. Two important issues, unbiased estimation and stochastic stability are addressed. Furthermore, the dynamic feature set is handled in a more effective, efficient and robust way. Experimental results to demonstrate the merits of the new theoretical and algorithmic developments are presented.

Original languageEnglish (US)
Title of host publicationProceedings - 3rd International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006
PublisherIEEE Computer Society
Pages73-80
Number of pages8
ISBN (Print)0769528252, 9780769528250
DOIs
StatePublished - Jan 1 2006
Event3rd International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006 - Chapel Hill, NC, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings - Third International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006

Other

Other3rd International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006
CountryUnited States
CityChapel Hill, NC
Period6/14/066/16/06

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Networks and Communications

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    Zhang, H., & Negahdaripour, S. (2006). EKF-based recursive dual estimation of structure & motion from stereo data. In Proceedings - 3rd International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006 (pp. 73-80). [4155712] (Proceedings - Third International Symposium on 3D Data Processing, Visualization, and Transmission, 3DPVT 2006). IEEE Computer Society. https://doi.org/10.1109/3DPVT.2006.55