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By Regis Sbudd J. Bates

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Stewenius, Henrik, Engels, Christopher, & Nister, David. 2006. Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing, 60(4), 284 – 294. Sunderhauf, Niko, Konolige, Kurt, Lacroix, Simon, & Protzel, Peter. 2006. Visual Odometry Using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle. Pages 157–163 of: Levi, Paul, Schanz, Michael, Lafrenz, Reinhard, & Avrutin, Viktor (eds), Autonome Mobile Systeme 2005. Informatik aktuell. Springer Berlin Heidelberg.

Save courses and speeds which enable to pass with other targets on assumed CPA. Additionally suggested trajectory is presented on the chart. If mandatory installation of a navigational decision support system reduces number of collision only by 1%, total savings, only for insurers, will be around 20,000,000 USD per year. The collision between Gotland Carolina and Conti Harmony is a proof that this percentage will be much higher. NAVDEC also solves collision situation with more than one target, which is presented on figure 8.

In the first step the selected frame features are detected. If stereo camera is used these features are matched with the corresponding points in the second stereo frame providing 3D position of the points in space. Then points are matched with features from the previous frame. Finally the motion of the camera is estimated based on the features displacement. This scheme is very similar to the Structure from Motion (SfM) type solutions [Koenderink & van Doorn, 1991]. Relative poses of cameras and features can be estimated for instance from 5 matching features as it was derived and demonstrated in [Nister, 2004].

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