Skip to main content
SpringerLink
Log in
Book cover

Encyclopedia of Systems and Control pp 1–7Cite as

Vision-Based Motion Estimation

  • Living reference work entry
  • First Online:

  • 261 Accesses

Abstract

Vision-based motion estimation is the problem of recovering the rotation and translation (i.e., pose) of a moving camera or object from camera images. Algorithms that solve this problem are a key component of many control and robotic applications. Traditionally, the pose estimation problem is solved using image feature points, which must satisfy the rigid motion constraint. We explain how reformulation of the rigid motion constraint leads to different pose estimation algorithms. We discuss the advantages and drawbacks of these methods, benchmark their accuracy and runtime, and provide reference to open-source implementations.

This is a preview of subscription content, log in via an institution.

Bibliography

  • Corke P (2017) Robotics, vision and control: fundamental algorithms in MATLAB®, 2nd completely revised, vol 118. Springer

    Book  Google Scholar 

  • Fathian K, Ramirez-Paredes JP, Doucette EA, Curtis JW, Gans NR (2018) QuEst: a quaternion-based approach for camera motion estimation from minimal feature points. IEEE Robot Autom Lett 3(2):857–864

    Article  Google Scholar 

  • Faugeras OD, Lustman F (1988) Motion and structure from motion in a piecewise planar environment. Int J Pattern Recognit Artif Intell 2(3):485–508

    Article  Google Scholar 

  • Hartley RI, Zisserman A (2004) Multiple view geometry in computer vision, 2nd edn. Cambridge University Press

    Book  Google Scholar 

  • Kneip L, Siegwart R, Pollefeys M (2012) Finding the exact rotation between two images independently of the translation. Springer

    Book  Google Scholar 

  • Longuet-Higgins HC (1981) A computer algorithm for reconstructing a scene from two projections. Nature 293(5828):133–135

    Article  Google Scholar 

  • Lowe DG et al. (1999) Object recognition from local scale-invariant features. In: IEEE international conference on computer vision, vol 99, pp 1150–1157

    Google Scholar 

  • Ma Y, Soatto S, Kosecka J, Sastry SS (2003) An invitation to 3-D vision: from images to geometric models. Springer Science & Business Media, vol 26

    Google Scholar 

  • Stewénius DH, Engels C, Nistér DD (2006) Recent developments on direct relative orientation. ISPRS J Photogramm Remote Sens 60(4):284–294

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. University of Texas at Arlington, Arlington, TX, USA

    Nicholas Gans

  2. Massachusetts Institute of Technology, Cambridge, MA, USA

    Kaveh Fathian

Authors
  1. Nicholas Gans
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Kaveh Fathian
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Nicholas Gans .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, MN, USA

    Tariq Samad

Section Editor information

  1. Dept. of Mechanical and AeroMechanical and Aerospace Engineering, University of Florida, Room 334, MAE-B, Gainesville, FL, USA

    Warren Dixon

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer-Verlag London Ltd., part of Springer Nature

About this entry

Check for updates. Verify currency and authenticity via CrossMark

Cite this entry

Gans, N., Fathian, K. (2020). Vision-Based Motion Estimation. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_100150-1

Download citation

  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_100150-1

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-5102-9

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

Publish with us

Policies and ethics

Search

Navigation