Abstract
Vision-based motion estimation is the problem of recovering the rotation and translation (i.e., pose) of a moving camera or object from camera images. Algorithms that solve this problem are a key component of many control and robotic applications. Traditionally, the pose estimation problem is solved using image feature points, which must satisfy the rigid motion constraint. We explain how reformulation of the rigid motion constraint leads to different pose estimation algorithms. We discuss the advantages and drawbacks of these methods, benchmark their accuracy and runtime, and provide reference to open-source implementations.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Bibliography
Corke P (2017) Robotics, vision and control: fundamental algorithms in MATLAB®, 2nd completely revised, vol 118. Springer
Fathian K, Ramirez-Paredes JP, Doucette EA, Curtis JW, Gans NR (2018) QuEst: a quaternion-based approach for camera motion estimation from minimal feature points. IEEE Robot Autom Lett 3(2):857–864
Faugeras OD, Lustman F (1988) Motion and structure from motion in a piecewise planar environment. Int J Pattern Recognit Artif Intell 2(3):485–508
Hartley RI, Zisserman A (2004) Multiple view geometry in computer vision, 2nd edn. Cambridge University Press
Kneip L, Siegwart R, Pollefeys M (2012) Finding the exact rotation between two images independently of the translation. Springer
Longuet-Higgins HC (1981) A computer algorithm for reconstructing a scene from two projections. Nature 293(5828):133–135
Lowe DG et al. (1999) Object recognition from local scale-invariant features. In: IEEE international conference on computer vision, vol 99, pp 1150–1157
Ma Y, Soatto S, Kosecka J, Sastry SS (2003) An invitation to 3-D vision: from images to geometric models. Springer Science & Business Media, vol 26
Stewénius DH, Engels C, Nistér DD (2006) Recent developments on direct relative orientation. ISPRS J Photogramm Remote Sens 60(4):284–294
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this entry
Cite this entry
Gans, N., Fathian, K. (2021). Vision-Based Motion Estimation. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, Cham. https://doi.org/10.1007/978-3-030-44184-5_100150
Download citation
DOI: https://doi.org/10.1007/978-3-030-44184-5_100150
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-44183-8
Online ISBN: 978-3-030-44184-5
eBook Packages: Intelligent Technologies and RoboticsReference Module Computer Science and Engineering