Fast, Robust, Continuous Monocular Egomotion Computation

16 Feb 2016Andrew JaegleStephen PhillipsKostas Daniilidis

We propose robust methods for estimating camera egomotion in noisy, real-world monocular image sequences in the general case of unknown observer rotation and translation with two views and a small baseline. This is a difficult problem because of the nonconvex cost function of the perspective camera motion equation and because of non-Gaussian noise arising from noisy optical flow estimates and scene non-rigidity... (read more)

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