ESTIMATING EGO MOTION BY FIXATION CONTROL OF MOUNTED ACTIVE CAMERAS

摘要

We propose a method for incrementally estimating ego motion by two mounted active cameras. Our method independently controls the two cameras during the ego motion so that each camera automatically fixates its optical axis to its own fixation point. The correspondence of the fixation point over two frames together with the correspondence of lines nearby the fixation point gives us sufficient constraints to determine the ego motion. Two cameras do not have to share the common field of view in this case whereas in stereo vision they have to do. Namely, our method allows the diverging viewing-lines of two cameras that are prohibited in stereo vision.