| Presentation | 2005-03-18 Stabilizing Ego-Motion Estimation by Active Wearable Cameras using Local Bundle Adjustment Tomohiko IKEDA, Akihiro SUGIMOTO, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The binocular independent fixation control is the camera control of two mounted active cameras where each of them independently and automatically fixates its optical axis to its own fixation point. A method using this camera control was proposed to incrementally estimate ego-motion from two time-series frames. The method, however, has a problem that estimation accuracy gradually becomes worse as the motion trajectory becomes longer and longer. This is due to accumulation of estimation errors incurred in each estimation step. To keep estimation accuracy stable even for a long trajectory, we propose to locally apply the bundle adjustment to each estimated motion so that the modified estimation becomes geometrically consistent with time-series frames acquired so far. This modification realizes stable estimation of a long motion trajectory. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | ego-motion estimation / local bundle adjustment / fixation point / optical flow / active camera |
| Paper # | TL2004-87,PRMU2004-255 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2005/3/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Stabilizing Ego-Motion Estimation by Active Wearable Cameras using Local Bundle Adjustment |
| Sub Title (in English) | |
| Keyword(1) | ego-motion estimation |
| Keyword(2) | local bundle adjustment |
| Keyword(3) | fixation point |
| Keyword(4) | optical flow |
| Keyword(5) | active camera |
| 1st Author's Name | Tomohiko IKEDA |
| 1st Author's Affiliation | School of Science and Technology, Chiba University() |
| 2nd Author's Name | Akihiro SUGIMOTO |
| 2nd Author's Affiliation | National Institute of Informatics |
| Date | 2005-03-18 |
| Paper # | TL2004-87,PRMU2004-255 |
| Volume (vol) | vol.104 |
| Number (no) | 742 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |