MOTION PARAMETER RECOVERY AND 3D SCENE SEGMENTATION

Motion parameter recovery for AGVs based on landmarks (or corners) has been widely used in stereo navigation. Existing methods use weighted least-squares algorithms to recover motion parameters, but these estim ates usually yield a zigzagged vehicle trajectory,Based on the idea th at vehicle motion must be constrained by the vehicle dynamics, a new m ethod of recovering motion parameters is introduced, resulting in cons iderable improvement in positional accuracy. The method can also be us ed for scene segmentation.