Correction of bias for motion estimation algorithms
Ego motion can be estimated by epipolar equations from point correspondences using statistically unbiased method. Such technique involves a positive weight being added to the fraction of residuals. The side effect of introduction of positive weights is that additional computation is required. We propose three algorithms: Two are derived from the statistically unbiased method, the third one has been derived based on minimising the error defined as distance between the image point and the corresponding epipolar line. It is proven that the errors are Gaussian distributed and comparable performance is achieved without the positive weights. Verified with experiments using real and synthetic data, the findings agree with the theory and the new algorithms outperform analytical solutions.
ego motion robust motion estimation