Abstract
In this paper, we modify the well-known 8-point method to make it work reliably in outdoor scenarios. It is well-known that the 8-point method is vulnerable against minor measurement noises especially if features are located far from a camera. Such situations occur often in outdoor scenarios. We offer four modifications to the 8-point method in the context of a RANSAC algorithm to make the algorithm robust against the measurement noises up to more than two pixels. The performance of the proposed method will be proved through simulation and practical results.
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Mirabdollah, M.H., Mertsching, B. (2013). Single Camera Motion Estimation: Modification of the 8-Point Method. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_14
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DOI: https://doi.org/10.1007/978-3-642-40852-6_14
Publisher Name: Springer, Berlin, Heidelberg
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