Egomotion Estimation via Optical Flow

• Main Authors: Chang, Lee-Ya-Ti, 張李亞迪
• Other Authors: Tien, Chung-Hao
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/gnsxtq

碩士 === 國立交通大學 === 光電工程研究所 === 106 === Egomotion estimation is an essential information for autopilot. As the massive development of computer vision in the modern world, there are a lot of applications for vehicles which based on computer vision. There are many advantages to develop egomotion estimation technique based on computer vision. For example, it can be used for egomotion estimation when traditional methods are not available. At the same time, it can cooperate with other computer vision techniques. Therefore, we propose an egomotion estimation system based on computer vision in this research. The goal in this research is to develop a real time egomotion estimation system via optical flow. In this paper, we discuss and compare different calculation methods of optical flow to find the moderate technique for our objective. Also, we describe how to transform optical flow to physical translation based on camera model. Finally, we design an experiment for the performance verification.