Motion Vision - Design of Compact Motion Sensing Solutions by J. Kolodko, L. Vlacic

By J. Kolodko, L. Vlacic

This finished new ebook offers with movement estimation for self reliant structures from a organic, algorithmic and electronic point of view. An set of rules, that's in response to the optical stream constraint equation, is defined intimately. This set of rules matches with the movement processing version, and software program constraints and resolves depth-velocity ambiguity, that is severe for self reliant navigation. there's additionally large insurance at the use of this set of rules in electronic and describes the preliminary movement processing version, the selected structures, and the worldwide functionality of the method.

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1 Inputs and outputs Perhaps because vision is our dominant sense and visual information can be captured passively at a high rate, motion estimation has traditionally been performed using visual information. In principle, however, other time varying data sources Introduction 3 (such as range information) can be used in place of visual information to determine how things are moving around. Based on this idea we decided to see ifa combination of range and visual data could simplify or improve the motion estimation process.

14b. The resulting estimate is called the Total Least Squares (TLS) estimate [70]17. We do not consider this type of estimate in detail here (see Reference 70 for more information) other than to say that it has some advantage over LS estimates because it takes into account errors both in the input and output variables. LS estimates only takes into account error in the output variable, however, the LS estimate is more common because it is easier to formulate and solve. Given the residuals, it would seem logical to require that the line-of-best-fit minimises the sum of the residuals, however, this will not work because the positive residuals may balance the negative residuals giving a small sum when the total error is large.

4. 5. 16 Joint distribution functions A joint distribution function is a PDF that combines the PDFs with a number of variables R1,R2 . . ,Rn. 10). ,Rn(XI, X2 . . . Xn) = PR (X) = Pr{R1 < Xl AND R2 < x2 A N D . . ,Rn(Xl,X2 . . ,Xn) = oqXI, tgX2,.. 17) If random variables R1, R2 . . . ,Rn (Xl, X2 . . 11). The pi symbol represents multiplication of each element, much as the sigma symbol represents addition of elements. 17 19 Marginal d&tribution function Occasionally, we might wish to convert a joint distribution function to a distribution over a single (or a few) variables.

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