کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
393374 | 665643 | 2014 | 12 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Recursive depth parametrization of monocular visual navigation: Observability analysis and performance evaluation Recursive depth parametrization of monocular visual navigation: Observability analysis and performance evaluation](/preview/png/393374.png)
In this paper, the theoretical and practical feasibility of estimating ego-motion in monocular navigation is under investigation. In particular, this paper concerns the observability issues of monocular navigation models. In order to recover the ego-motion of the monocular camera from 2D (two-dimension) image sequence, this paper proposes a novel recursive parametric model. This model differs from other traditional parametric models with the reduced state-dimension and the consistent observability of system state. In addition, the consistent observability of different models are compared by using time-varying observability analysis theory. At the end of this paper, two groups of experiments are implemented to validate the effectiveness of the proposed method.
Journal: Information Sciences - Volume 287, 10 December 2014, Pages 38–49