TY - GEN
T1 - Noise sensitivity analysis of statistically consistent optimal structure from motion
AU - Park, F. C.
AU - Park, Byungsoo
AU - Kim, Munsang
AU - Mishra, Bhubaneswar
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:14044255926
SN - 0780384636
SN - 9780780384637
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 3698
EP - 3703
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -