| EPSRC Reference: |
GR/R89080/01 |
| Title: |
Real-time Ego-motion Estimation for a single camera |
| Principal Investigator: |
Reid, Professor I |
| Other Investigators: |
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| Department: |
Engineering Science |
| Organisation: |
University of Oxford |
| Scheme: |
Fast Stream |
| Starts: |
03 February 2003 |
Ends: |
02 May 2004 |
Value (£): |
60,877
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| EPSRC Research Topic Classifications: |
| Image & Vision Computing |
Multimedia |
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Summary on Grant Application Form |
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The proposal research concentrate on the issues involved with achieving real-time estimation of the ego-motion of a camera. We aim to use techniques developed in the mobile robotics community for simultaneous localisation and mappin. Most previous work (with osme notable exceptions) in the visual sturcture from motion problem has concentrated on achieving accurate scene structure by optimising structure and motion together in a large, monolithic calculation which is fundamentally unsuited to real-time use, ruling out a number of interesting applications of the idea of localisation from visual data. We believe the work in the robotics community is more relevant, notwithstanding the fact the most of this work uses sensors such as sonar or laser-ranging, and has deliberately avoided vision.Our aim is to investigate a numver of areas which we believe will contribute to more efficient algorithms for ego-motion. In particular we plan (i) to introduce dynamical models of camera motion in order to improve accuracyand reduce the difficulty of data asscoiation; (ii) likewise to fuse data from simple inertial sensors with visual data; and (iii) to investigate search techniques (using information theoretic principles) in order to make the most efficient use of available processing and sensing resources.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.ox.ac.uk |