Passive navigation from image sequences by use of a volumetric approach

摘要

The paper describes a volumetric approach to depth estimation for robot navigation with use of only an approximately calibrated translating camera. Our approach is related to techniques for photo-realistic object reconstruction but with the emphasis on issues associated with navigation. The technique performs three-dimensional matching by a process of image interpolation and can adjust for errors in camera position. The reconstruction is achieved from a small angular range of scene views, and the technique is demonstrated to be insensitive to large errors in the camera positions. The ability to correct for more critical errors such as the camera orientation is shown to significantly improve the algorithm's performance. Our technique is demonstrated on real image sequences and compares favorably with techniques based on optical flow.