Compound eye sensor for 3D ego motion estimation

TitleCompound eye sensor for 3D ego motion estimation
Publication TypeConference Papers
Year of Publication2004
AuthorsNeumann J, Fermüller C, Aloimonos Y, Brajovic V
Conference Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings
Date Published2004/10/28/Sept.
ISBN Number0-7803-8463-6
Keywords3D 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

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.