When an observer moves in a 3D static scene, the motion field depends on the depth of the visible objects and on the observer’s instantaneous translation and rotation. By compu...
When an observer moves through a rigid 3D scene, points that are near to the observer move with a different image velocity than points that are far away. The difference between im...
Michael S. Langer, Vincent Chapdelaine-Couture, Ri...
Previous methods for estimating the motion of an observer through a static scene require that image velocities can be measured. For the case of motion through a cluttered 3D scene...
We present an iterative algorithm for robustly estimating the egomotion and refining and updating a coarse, noisy and partial depth map using a depth based parallax model and brig...
We address the problem of fusing sparse and noisy depth data obtained from a range finder with features obtained from intensity images to estimate ego-motion and refine 3D struct...