Estimating ego-motion using a panoramic sensor: Comparison between a bio-inspired and a camera-calibrated method

摘要

We introduce and compare two algorithms related to ego-motion, applicable to a robot using a panoramic visual sensor in an unknown environment. The first method, computationally cheap, extends a family of bio-inspired navigation systems by providing an orientation estimation that previously had to be obtained from external references. The second method solves the general structurefrom-motion problem and is here adapted to the panoramic sensor case. Both methods produce good results in a test scene, though the calibrated method has a greater precision. A step-by-step comparison of the methods is included, with mobile robotics applications in mind. 1