The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme
Open accessAbstract
A common prerequisite for many vision-based driver assistance systems is the knowledge of the vehicle's own movement. In this paper we propose a novel approach for estimating the egomotion of the vehicle from a sequence of stereo images. Our method is directly based on the trifocal geometry between image triples, thus no time expensive recovery of the 3-dimensional scene structure is needed. The only assumption we make is a known camera geometry, where the calibration may also vary over time. We employ an Iterated Sigma Point Kalman Filter in combination with a RANSAC-based outlier rejection scheme which yields robust frame-to-frame motion estimation even in dynamic environments. A high-accuracy inertial navigation system is used to evaluate our results on challenging real-world video sequences. Experiments show that our approach is clearly superior compared to other filtering techniques in terms of both, accuracy and run-time.
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Cites
Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G. (2004) · International Journal of Computer Vision · doi:10.1023/b:visi.0000029664.99615.94 · Cited by 55,589
Multiple View Geometry in Computer Vision
Hartley, R., & Zisserman, A. (2004) · doi:10.1017/cbo9780511811685 · Cited by 21,070
Speeded-Up Robust Features (SURF)
Bay, H., Ess, A., Tuytelaars, T., & Van Gool, L. (2008) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2007.09.014 · Cited by 13,557
A Combined Corner and Edge Detector
Harris, C., & Stephens, M. (1988) · Procedings of the Alvey Vision Conference 1988 · doi:10.5244/c.2.23 · Cited by 12,901
Optimal State Estimation: Kalman, H∞, and Nonlinear Approaches
Simon, D. (2006) · doi:10.1002/0470045345 · Cited by 4,875
Cited by
A Review of SLAM Techniques and Security in Autonomous Driving
Singandhupe, A., & La, H. M. (2019) · 2019 Third IEEE International Conference on Robotic Computing (IRC) · doi:10.1109/irc.2019.00122 · Cited by 147
A sensor fusion approach for localization with cumulative error elimination
Zhang, F., Stahle, H., Chen, G., Simon, C. C. C., Buckl, C., & Knoll, A. (2012) · 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) · doi:10.1109/mfi.2012.6343009 · Cited by 45
Towards visual ego-motion learning in robots
Pillai, S., & Leonard, J. J. (2017) · 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206441 · Cited by 42
Metadata
- Authors
- Kitt, B., Geiger, A., & Lategahn, H.
- Venue
- 2010 IEEE Intelligent Vehicles Symposium
- Publisher
- IEEE
- Published
- 2010-06
- Pages
- 486-492
- ISSN
- 1931-0587 (ISSN-L)
- OpenAlex
- W2012319351
- Cited by
- 405
- References
- 5
- FWCI
- 49.82
- Type
- conference paper
- Language
- en
- Open access
- green
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- Kitt, B., Geiger, A., & Lategahn, H. (2010). Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme. 2010 IEEE Intelligent Vehicles Symposium. https://doi.org/10.1109/ivs.2010.5548123
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