Corisco: Robust edgel-based orientation estimation for generic camera models
作者：
Highlights：
• We propose an orientation estimation method based on edgels and M-estimation.
• Edgels are extracted with a grid mask that can compromise between speed and accuracy.
• Any camera model can be used, and errors are calculated on the original image space.
• The estimation starts with a random search and ends with a continuous optimization.
• The method uses quaternions, and all derivative calculations use closed formulas.
摘要
•We propose an orientation estimation method based on edgels and M-estimation.•Edgels are extracted with a grid mask that can compromise between speed and accuracy.•Any camera model can be used, and errors are calculated on the original image space.•The estimation starts with a random search and ends with a continuous optimization.•The method uses quaternions, and all derivative calculations use closed formulas.
论文关键词：Grid mask,Edgels,Orientation estimation,Omnidirectional vision,Monocular vision,Quaternions
论文评审过程：Received 17 October 2012, Revised 21 September 2013, Accepted 10 October 2013, Available online 21 October 2013.
论文官网地址：https://doi.org/10.1016/j.imavis.2013.10.004
