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Ego-Motion Estimation Using Rectified Stereo and Bilateral Transfer Function

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Advances in Visual Computing (ISVC 2012)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 7431))

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Abstract

We describe an ego-motion algorithm based on dense spatio-temporal correspondences, using semi-global stereo matching (SGM) and bilateral image warping in time. The main contribution is an improvement in accuracy and robustness of such techniques, by taking care of speed and numerical stability, while employing twice the structure and data for the motion estimation task, in a symmetric way. In our approach we keep the tasks of structure and motion estimation separated, respectively solved by the SGM and by our pose estimation algorithm. Concerning the latter, we show the benefits introduced by our rectified, bilateral formulation, that provides at the same time more robustness to noise and disparity errors, at the price of a moderate increase in computational complexity, further reduced by an improved Gauss-Newton descent.

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Author information

Authors and Affiliations

  1. Institute for Robotics and Mechatronics, German Aerospace Center (DLR), Münchner Straße 20, 82234, Weßling, Germany

    Giorgio Panin & Nassir W. Oumer

Authors
  1. Giorgio Panin
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  2. Nassir W. Oumer
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Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Nevada, 89557, Reno, NV, USA

    George Bebis

  2. NASA Ames Research Center, 94035, Moffett Field, CA, USA

    Richard Boyle

  3. Lawrence Berkeley National Laboratory, 94720, Berkeley, CA, USA

    Bahram Parvin

  4. Desert Research Institute, 89512, Reno, NV, USA

    Darko Koracin

  5. Department of Computer Science, University of California at Irvine, 92697-3435, Irvine, CA

    Charless Fowlkes

  6. Eastman Kodak Company, 14650-2102, Rochester, NY, USA

    Sen Wang

  7. Department of Computer Science and Engineering, University of Colorado at Denver, 80217, Denver, CO, USA

    Min-Hyung Choi

  8. VRVis Zentrum für Virtual Reality and Visualisierung, 1220, Vienna, Austria

    Stephan Mantler

  9. California Institute for Telecommunications and Information Technology, University of California, 92093, San Diego, La Jolla, CA, USA

    Jürgen Schulze

  10. KAUST Visualizatioin Core Lab., 23955-6900, Thurwal, Saudi Arabia

    Daniel Acevedo

  11. Stony Brook University, 11794-4400, NY, USA

    Klaus Mueller

  12. Argonne National Laboratory, 60439, IL, USA

    Michael Papka

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© 2012 Springer-Verlag Berlin Heidelberg

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Panin, G., Oumer, N.W. (2012). Ego-Motion Estimation Using Rectified Stereo and Bilateral Transfer Function. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2012. Lecture Notes in Computer Science, vol 7431. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33179-4_44

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  • DOI: https://doi.org/10.1007/978-3-642-33179-4_44

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33178-7

  • Online ISBN: 978-3-642-33179-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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