Gideon P. Stein, Ofer Mano, Amnon Shashua  Home/Search
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Abstract: We describe a robust method for computing the ego-motion of the vehicle relative to the road using input from a single camera mounted next to the rear view mirror. Since feature points are unreliable in cluttered scenes we use direct methods where image values in the two images are combined in a global probability function. Combined with the use of probability distribution matrices, this enables the formulation of a robust method that can ignore large number of outliers as one would encounter... (Update)
Context of citations to this paper: More
.... pan in mosaicing applications [16] but previous searches for ground plane homographies have generally involved a three parameter search [24]. Implementation details. The parameter s is determined by minimizing the Sum of Normalized Squared Di erences (SNSD) between one image...
...pan axes) or because the camera moves along the plane, or both. Planar motion has been extensively studied by Armstrong and others [2, 7, 18], but the various planar motion calibration methods proposed are intended for general scenes and use the fundamental matrix. Our...
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BibTeX entry: (Update)
G. P. Stein, O. Mano, and A. Shashua. A robust method for computing vehicle ego-motion. In IEEE Intelligent Vehicles Symposium (IV2000),Oct. 2000, Dearborn, MI., 2000. http://citeseer.ist.psu.edu/stein00robust.html More
@misc{ stein00robust,
author = "G. Stein and O. Mano and A. Shashua",
title = "A robust method for computing vehicle ego-motion",
text = "G. P. Stein, O. Mano, and A. Shashua. A robust method for computing vehicle
ego-motion. In IEEE Intelligent Vehicles Symposium (IV2000),Oct. 2000, Dearborn,
MI., 2000.",
year = "2000",
url = "citeseer.ist.psu.edu/stein00robust.html" }
Citations (may not include all citations):755 Determining optical flow (context) - Horn, Schunk - 1981
349 Hierarchical model-based motion estimation (context) - Bergen, Anandan et al. - 1992
164 Robust regression methods for computer vision: A review (context) - Meer, Mintz et al. - 1991
129 The interpretation of a moving retinal image (context) - Longuet-Higgins, Prazdny - 1980
92 Direct methods for recovering motion (context) - Horn, Weldon - 1988
59 Recovery of ego-motion using image stabilization - Irani, Rousso et al. - 1994
48 Robust dynamic motion estimation over time - Black, Anandan - 1991
27 Model based brightness constraints: On direct estimation of .. - Stein, Shashua - 1997
4 Measurement of vehicle motion and orientation using optical .. (context) - Suzuki, Kanade - 1999
4 Recovering shape and motion from undersea images (context) - Negahdaripour, Shokrollahi - 1987
4 Geometric and Photometric Constraints: Motion and Structure .. (context) - Stein - 1998
1 A general filter for measurements with any probability distr.. - Rosenberg, Werman - 1997
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