Compound eye sensor for 3D ego motion estimation
| Title | Compound eye sensor for 3D ego motion estimation |
| Publication Type | Conference Papers |
| Year of Publication | 2004 |
| Authors | Neumann J, Fermüller C, Aloimonos Y, Brajovic V |
| Conference Name | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings |
| Date Published | 2004/10/28/Sept. |
| Publisher | IEEE |
| ISBN Number | 0-7803-8463-6 |
| Keywords | 3D camera motion estimation, CAMERAS, compound eye vision sensor, Computer vision, Equations, Eyes, Geometry, Image sensors, Insects, linear equations, Motion estimation, robot vision, Robustness, sampling geometry, Sampling methods, Sensor phenomena and characterization |
| Abstract | We describe a compound eye vision sensor for 3D ego motion computation. Inspired by eyes of insects, we show that the compound eye sampling geometry is optimal for 3D camera motion estimation. This optimality allows us to estimate the 3D camera motion in a scene-independent and robust manner by utilizing linear equations. The mathematical model of the new sensor can be implemented in analog networks resulting in a compact computational sensor for instantaneous 3D ego motion measurements in full six degrees of freedom. |
| DOI | 10.1109/IROS.2004.1389992 |