Noise sensitivity analysis of statistically consistent optimal structure from motion

F. C. Park, Byungsoo Park, Munsang Kim, Bhubaneswar Mishra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a noise sensitivity analysis of the differential optimal structure from motion problem. Given optical flow measurements for a set of feature points, we formulate a least squares cost function based on a more reasonable additive isotropic model of measurement noise, normalized by depth, that also leads to statistically consistent estimates of the shape and motion parameters. A cyclic coordinate descent algorithm is developed, and its performance examined through experiments.

Original languageEnglish (US)
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3698-3703
Number of pages6
StatePublished - 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • Engineering(all)

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