Performance Evaluation of Ego-Motion Methods in Static Environment

Akkaya A. E. , Talu M. F.

23nd Signal Processing and Communications Applications Conference (SIU), Malatya, Turkey, 16 - 19 May 2015, pp.2462-2465 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/siu.2015.7130382
  • City: Malatya
  • Country: Turkey
  • Page Numbers: pp.2462-2465


Estimating the observer position in 3D environment using a visual image data is called the ego-motion. This method consists of three steps: in the first step, feature points of image are detected; in the second step, optical flow information is obtained; in the third and final step appropriate transformation parameters are calculated using the optimization method. Especially in enclosed areas where GPS can not be used or high estimation errors occured, in underground systems, visual egomotion is critically important. As well as the precise location estimation, providing a low cost solution is one of the superior properties of egomotion method. In this study, different egomotion methods has been observed, the numerical results in noisy and noiseless environment obtained by comparing the accuracy of algorithms presented in the table.