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Visual computation of egomotion using an image interpolation technique

J S Chahl1, M V Srinivasan

  • 1Centre for Visual Sciences, Research School of Biological Sciences, Australian National University, Canberra, Australia.

Biological Cybernetics
|May 1, 1996
PubMed
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This study introduces a new method for calculating egomotion using two visual sensors. The technique accurately determines distance and rotation in a single step, enhancing mobile robot navigation.

Area of Science:

  • Robotics
  • Computer Vision
  • Navigation Systems

Background:

  • Accurate egomotion estimation is crucial for mobile robot navigation and operation in unknown environments.
  • Traditional methods often rely on velocity measurements or iterative processes, which can be computationally intensive and prone to drift.

Purpose of the Study:

  • To present a novel, single-step algorithm for computing egomotion parameters (distance traveled and angle rotated) of a mobile device using two panoramic visual sensors.
  • To demonstrate the algorithm's accuracy and efficiency without requiring velocity field integration or iterative approximations.

Main Methods:

  • The proposed technique interpolates the current sensor image position relative to previous sensor images to compute egomotion.
  • It utilizes panoramic views from two visual sensors on the mobile device.

Related Experiment Videos

  • The method avoids explicit velocity measurement or integration.

    • Main Results:

    • The algorithm achieves accuracy within 5% of actual motion on real and synthetic images.
    • When implemented on a mobile robot, it measures stepwise rotation and translation within 10% accuracy in 3D environments.
    • Position and orientation estimation after a 30-step trajectory showed 5% and 5-degree accuracies, respectively.

    Conclusions:

    • The novel egomotion computation technique offers a direct, accurate, and efficient solution for mobile robot navigation.
    • Its single-step, non-iterative nature makes it suitable for real-time applications.
    • The demonstrated accuracy in unknown 3D environments highlights its practical applicability.