Accurate and robust ego-motion estimation using expectation maximization

A novel robust visual-odometry technique, called EM-SE(3) is presented and compared against using the random sample consensus (RANSAC) for ego-motion estimation. In this contribution, stereo-vision is used to generate a number of minimal-set motion hypothesis. By using EM-SE(3), which involves expec...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Dubbelman, G., van der Mark, W., Groen, F.C.A.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Cameras Distance measurement Estimation Global positioning system Quaternions Robust estimation Robustness Stereovision Three dimensional displays visual-odometry
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