We describe an algorithm that takes as inputs a coarse3D model of an environment, and a video sequence acquiredwithin the environment, and produces as output an estimateof the cameraÂs 6-DOF egomotion expressed in the coordinatesof the 3D model. Our method has several novelaspects: it performs line-based structure-from-motion; italigns the local line constellation to the known model; andit uses off-line visibility analysis to dramatically acceleratethe alignment process.We present simulation results demonstrating themethodÂs operation in a multi-room environment. We showthat the method can estimate metric egomotion accuratelyand could be used for for many minutes of operation andthousands of video frames.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/30605 |
| Date | 09 January 2006 |
| Creators | Koch, Olivier, Teller, Seth |
| Contributors | Robotics, Vision & Sensor Networks, Seth Teller |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | en_US |
| Detected Language | English |
| Format | 8 p., 20452907 bytes, 718869 bytes, application/postscript, application/pdf |
| Relation | Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory |
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