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Vol. 147, No. 12, December 2012, pp. 78-86




Visual Odometry in Dynamical Scenes
Dong ZHANG and Ping LI

Department of Control Science and Engineering, Zhejiang University,
Hangzhou, Zhejiang, 310027 China

Tel.: +86-139-8946-3600

E-mail: zhangs@zju.edu.cn



Received: 9 October 2012   /Accepted: 18 December 2012   /Published: 31 December 2012

Digital Sensors and Sensor Sysstems


Abstract: This paper presents a novel method for visual odometry in dynamical scenes. As an imaging sensor, video camera has a lot of applications by using computer vision methods. Among them, visual odometry is one of the most important applications. However, the traditional method could only work well in static scenes and this is a major drawback which severely limits its application in real-world scenes. The proposed method employs 3-D motion segmentation method to segment the feature point trajectories into different motions, and accurately tracks the background points for camera position and orientation estimation, thus allowing the application of visual odometry method in real world.


Keywords: Visual odometry, Computer vision, Robot navigation, Structure from motion



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