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• [P815] Robust Camera Egomotion Estimation from 3D Straight Line-Based Environment model
  Author(s): Fakhreddine Ababsa
  
  

  Abstract
  In this paper we present a new robust camera pose estimation (Ego motion) approach based on 3D lines tracking. We used an Extended Kalman Filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method include first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments from the input model. And second, a new framework for camera pose estimation using 2D-3D straight-lines within an EKF. Experimental results on real image sequences are presented to evaluate the performances and the feasibility of the proposed approach.

  
   

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