Direction estimation using visual odometry
Clément Masson · KTH Publication Database DiVA (KTH Royal Institute of Technology) · 2015
This Master thesis tackles the problem of measuring objects’ directions from a motionlessobservation point. A new method based on a single rotating camera requiring the knowledge ofonly two (or more) landmarks’ direction is proposed. In a first phase, multi-view geometry isused to estimate camera rotations and key elements’ direction from a set of overlapping images.Then in a second phase, the direction of any object can be estimated by resectioning the cameraassociated to a picture showing this object. A detailed description of the algorithmic chain isgiven, along with test results on both synthetic data and real images taken with an infraredcamera.