| Abstract: | This article addresses the problem of determining the 3-dimensional locations of salient points in the environment of a moving camera based on a monocular image sequence obtained by the camera. The camera's translational and rotational velocities are assumed to be known approximately via inertial sensors. The motion of the camera is represented by a constant velocity model. Salient points in the image sequence are extracted using Gabor wavelets and tracked using labeled graph matching. The 3-D positions of the selected environmental points relative to the camera are then estimated recursively using an extended Kalman filter (EKF), after initialization by two-frame motion stereo. The motion parameters of the camera are also refined simultaneously. Experimental results on real data are given. © 1992 John Wiley & Sons, Inc. |
