Motion parameter recovery and 3D scene segmentation
Ying Zheng, Stephen A. Billings, J. E. W. Mayhew, J. P. Frisby · Electronics Letters · 1996
Motion parameter recovery for AGVs based on landmarks (or corners) has been widely used in stereo navigation. Existing methods use weighted least-squares algorithms to recover motion parameters, but these estimates usually yield a zigzagged vehicle trajectory. Based on the idea that vehicle motion must be constrained by the vehicle dynamics, a new method of recovering motion parameters is introduced, resulting in considerable improvement in positional accuracy. The method can also be used for scene segmentation.