POSE ESTIMATION USING FEATURE CORRESPONDENCES AND DTM (WA-P1)

Author(s) : Ronen Lerner (The Technion, Dept. of Computer Science, Israel) Ehud Rivlin (The Technion, Dept. of Computer Science, Israel) P.Hector Rotstein (University of Minnesota, Dept. of Aerospace Engineering and Mechanics, Minnesota)

Abstract : A novel algorithm for pose estimation using optical flow and Digital Terrain Map (DTM) is proposed. A constraint is formulated by using corresponding features from two consecutive frames together with the information provided by the elevation map. The proposed constraint is nonlinear and is solved by using a simple numerical method. The proposed approach does not require an intermediate explicit reconstruction of the 3D world. The feasibility of the algorithm is studied using both synthetic data of a virtual terrain and experimental data obtained from a terrain model and a robotic camera.

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