Passive navigation using focus of expansion
Antonella Branca, Ettore Stella, A. Distante · 2002
The goal of this work is to propose a method to solve the problem of passive navigation with visual means. The method is a two stage approach: matching of feature extracted from 2D images of a sequence at different times and egomotion parameter computation. Both algorithms are based on a least-square-error technique to minimize appropriate energy functions. Experimental results obtained in real context show the robustness of the method.