Fusion of range and vision for real-time motion estimation

被引：0

作者：

Kolodko, J ^{[1
]}

Vlacic, L ^{[1
]}

机构：

[1] Griffith Univ, Intelligent Control Syst Lab, Brisbane, Qld 4111, Australia

来源：

2004 IEEE INTELLIGENT VEHICLES SYMPOSIUM | 2004年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper we introduce a motion estimation algorithm that fuses visual and range data to give an unambiguous estimate of the velocity of objects visible to a camera and range sensor. Dynamic scale space is used to avoid temporal aliasing and a novel robust estimator based on Least Trimmed Squares is used to smooth results between boundaries established using range data. Simulation results (from a specially developed simulation environment) and experimental results (from an FPGA based implementation of our algorithm) show our approach gives accurate motion estimates.

引用

页码：256 / 261

页数：6