Abstract
A real-time range flow based ego-motion estimator for a moving depth sensor is presented. The estimator recovers the translation and rotation components of a sensor’s motion and integrates these temporally. To ensure accurate inter-frame motion estimates, an iterative form of the estimator is developed. To minimise drift in the pose, additional temporal constraint is provided through the use of anchor frames. The algorithm is evaluated on the recently published TUB RGB-D Benchmark. Performance is commensurate with alternative methodologies such as SLAM but at a fraction of the computational cost.
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Jones, G.A., Hunter, G. (2013). Spatio-temporal Support for Range Flow Based Ego-Motion Estimators. In: Wilson, R., Hancock, E., Bors, A., Smith, W. (eds) Computer Analysis of Images and Patterns. CAIP 2013. Lecture Notes in Computer Science, vol 8048. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40246-3_66
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DOI: https://doi.org/10.1007/978-3-642-40246-3_66
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