Visual computation of egomotion using an image interpolation technique.

A novel technique is presented for the computation of the parameters of egomotion of a mobile device, such as a robot or a mechanical arm, equipped with two visual sensors. Each sensor captures a panoramic view of the environment. We show the parameters of ego-motion can be computed by interpolating the position of the image captured by one of the sensors at the robot's present location, with respect to the images captured by the two sensors at the robot's previous location. The algorithm delivers the distance travelled and angle rotated, without the explicit measurement or integration of velocity fields. The result is obtained in a single step, without any iteration or successive approximation. Tests of the algorithm on real and synthetic images reveal an accuracy to within 5% of the actual motion. Implementation of the algorithm on a mobile robot reveals that stepwise rotation and translation can be measured to within 10% accuracy in a three-dimensional world of unknown structure. The position and orientation of the robot at the end of a 30-step trajectory can be estimated with accuracies of 5% and 5 degrees, respectively.