For fast egomotion of a camera, computing feature correspondence and motion parameters by global search becomes highly time-consuming. Therefore, the complexity of the estimation needs to be reduced for real-time applications. In this paper, we propose a compound omnidirectional vision sensor and an algorithm for estimating its fast egomotion. The proposed sensor has both multi-baselines and a large field of view (FOV). Our method uses the multi-baseline stereo vision capability to classify feature points as near or far features. After the classification, we can estimate the camera rotation and translation separately by using random sample consensus (RANSAC) to reduce the computational complexity. The large FOV also improves the robustness since the translation and rotation are clearly distinguished. To date, there has been no work on combining multi-baseline stereo with large FOV characteristics for estimation, even though these characteristics are individually are important in improving egomotion estimation. Experiments showed that the proposed method is robust and produces reasonable accuracy in real time for fast motion of the sensor.

Interpretations by physicians of capsule endoscopy image sequences captured over periods of 7-8 hours usually require 45 to 120 minutes of extreme concentration. This paper describes a novel method to reduce diagnostic time by automatically controlling the display frame rate. Unlike existing techniques, this method displays original images with no skipping of frames. The sequence can be played at a high frame rate in stable regions to save time. Then, in regions with rough changes, the speed is decreased to more conveniently ascertain suspicious findings. To realize such a system, cue information about the disparity of consecutive frames, including color similarity and motion displacements is extracted. A decision tree utilizes these features to classify the states of the image acquisitions. For each classified state, the delay time between frames is calculated by parametric functions. A scheme selecting the optimal parameters set determined from assessments by physicians is deployed. Experiments involved clinical evaluations to investigate the effectiveness of this method compared to a standard-view using an existing system. Results from logged action based analysis show that compared with an existing system the proposed method reduced diagnostic time to around 32.5 7 minutes per full sequence while the number of abnormalities found was similar. As well, physicians needed less effort because of the systems efficient operability. The results of the evaluations should convince physicians that they can safely use this method and obtain reduced diagnostic times.