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Published in:
2013 | OriginalPaper | Chapter
Spatio-temporal Support for Range Flow Based Ego-Motion Estimators
Authors : Graeme A. Jones, Gordon Hunter
Published in: Computer Analysis of Images and Patterns
Publisher: Springer Berlin Heidelberg
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A real-time
range flow
based ego-motion estimator for a moving depth sensor is presented. The estimator recovers the translation and rotation components of a sensor’s motion and integrates these temporally. To ensure accurate inter-frame motion estimates, an iterative form of the estimator is developed. To minimise drift in the pose, additional temporal constraint is provided through the use of
anchor frames
. The algorithm is evaluated on the recently published TUB RGB-D Benchmark. Performance is commensurate with alternative methodologies such as SLAM but at a fraction of the computational cost.