@InProceedings{obdrzalek10voting,
  IS = { zkontrolovano 31 Jan 2011 },
  UPDATE  = { 2010-09-02 },
  author =      { {\v S}t{\v e}p{\' a}n Obdr{\v z}{\' a}lek and Ji{\v r}{\' i} Matas },
  title =       { A Voting Strategy for Visual Ego-Motion from Stereo },
  c_title =     { Voting Strategie pro Visual Ego-Motion ze Sterea },
  year =        { 2010 },
  pages =       { 382--387 },
  booktitle =   { IV 2010: Proceedings of the IEEE Intelligent Vehicles Symposium },
  publisher =   { Omnipress },
  address =     { Madison, USA },
  isbn =        { 978-1-4244-7866-8 },
  issn =        { 1931-0587 },
  book_pages =  { 1213 },
  month =       { June },
  day =         { 21--24 },
  venue =       { San Diego, USA },
  organization ={ IEEE },
  annote = {We present a procedure for egomotion estimation from
    visual input of a stereo pair of video cameras. The 3D egomotion 
    problem, which has six degrees of freedom in general, is simplified 
    to four dimensions and further decomposed to two two-dimensional
    subproblems. The decomposition allows us to use a voting strategy 
    to identify the most probable solution, avoiding the random sampling 
    (RANSAC) or other approximation techniques. The input constitutes of 
    image correspondences between consecutive stereo pairs, i.e. feature 
    points do not need to be tracked over time. The experiments show
    that even if a trajectory is put together as a simple concatenation 
    of frame-to-frame increments, it comes out reliable and precise. },
  keywords =    { Egomotion, Stereo, Voting, Hough transform },
  prestige =    { international },
  authorship =  { 60-40 },
  note =        { CD-ROM },
  project =     { MSM6840770038, HS Toyota },
  psurl = { [PDF, 1.5 MB] },
}