PT Journal
AU Fadi Dornaika
   Angel Sappa
TI Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression
SO Pattern Recognition Letters
JI PRL
PY 2009
BP 535–543
VL 30
IS 5
DI 10.1016/j.patrec.2008.12.006
AB This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes.
ER