Active egomotion estimation: A qualitative approach
purposive, in the sense that it does not claim any generality. It just solves the kinetic stabilization problem and cannot be used as it is for other problems related to 3-D motion.
qualitative, in the sense that the solution comes as the answer to a series of simple yes/no questions and not as the result of complicated numerical processing.
active, in the sense that the activity of the observer (in this case “saccades”) is essential for the solution of the problem.
The input to the perceptual process of kinetic stabilization that we have developed is the normal flow, i.e. the projection of the optic flow along the direction of the image gradient.
Contributions of this work are the fact that translation can be estimated reliably from a normal flow field that also contains rotation.
KeywordsMotion Estimation Half Plane Normal Flow Visual Motion Inertial Sensor
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