Multi-Scale Descriptor for Robust and Fast Camera Motion Estimation

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This letter presents a robust and fast 6D camera motion estimation system that combines a FAST detector with a Multiscale Descriptor (MSD). For a robust and fast camera motion estimation system, the descriptor is an especially important component, as it is the most time consuming step in motion estimation. Furthermore, the properties of the descriptor significantly affect the precision of the estimated motion. In this letter, we present a descriptor that requires a low computational burden and offers high precision for robust and fast motion estimation. The descriptor provides high precision through the use of multi-scale gradient information and computational efficiency by employing 4 integral images and an intensity gradient. We conclude this letter with an evaluation of the proposed motion estimation in comparison with different types of descriptors in practical situations. The results show that the proposed motion estimation provides good performance over previous methods in terms of processing time and precision of estimated camera motion.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2013-07
Language
English
Article Type
Article
Citation

IEEE SIGNAL PROCESSING LETTERS, v.20, no.7, pp.725 - 728

ISSN
1070-9908
DOI
10.1109/LSP.2013.2264672
URI
http://hdl.handle.net/10203/174284
Appears in Collection
EE-Journal Papers(저널논문)
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