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Iri this paper, we describe a method for comput. ing the rriovc~rrient. of objects as well as that of a mobile robot from ii scqiicrice of stereo frames. Stereo frames are obtained at ~iifl’ (~reiit, instants by a stereo rig, when the mobile robot rIilvigat (>s in an unknown environment possibly containing ~) iiit: rrioving rigid objects. An approach based on rigidity (oiihlraiiit, s is presented for registering two stereo frames. Wcs dernoristrate how the uncertainty of measurements can IN^ integrated with the formalism of the rigidity constraints. A iiew technique is described to match very noisy segments. ‘1‘11~ iiifluence of egomotion on observed movement: ; of ob, j (~ 1, s is discussed in detail. Egomotion is fir: jt determined itiid then eliminated before determination of the motion of o1) jt: cl. s. The proposed algorithm is completely automatic. I~: xperirnerital results are provided. Some remarks conclude ths paper.
Zhang et al. (Wed,) studied this question.