The MVEE aggregates motion estimation results from multiple vertical line pairs using the variance minimization method. Here we compare MVEE with the results from BSP and a simple equal weighting for all (EWA) pairs. The experiment site is shown in Figure 7(a)
. In each trial, the robot moves 31 steps along a zigzagging poly line with a step length of 1
m for odd steps and 0.5
m for even steps (Figure 8(a)
). We also repeat the experiment with three different camera resolutions: 640
960, and 2560
pixels. With 10 trials for each resolution, we have a total of 30 trials.
The experimental results of the three different pair aggregation methods are shown ...