Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
Open accessAbstract
In this paper, we describe a real-time algorithm for computing the ego-motion of a vehicle relative to the road. The algorithm uses as input only those images provided by a single omnidirectional camera mounted on the roof of the vehicle. The front ends of the system are two different trackers. The first one is a homography-based tracker that detects and matches robust scale-invariant features that most likely belong to the ground plane. The second one uses an appearance-based approach and gives high-resolution estimates of the rotation of the vehicle. This planar pose estimation method has been successfully applied to videos from an automotive platform. We give an example of camera trajectory estimated purely from omnidirectional images over a distance of 400 m. For performance evaluation, the estimated path is superimposed onto a satellite image. In the end, we use image mosaicing to obtain a textured 2-D reconstruction of the estimated path.
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Despite calibration challenges, omnidirectional cameras have been used for applications such as SLAM and 3D reconstruction.
“Some distortions inevitably remain, but despite these challenges in calibration, omnidirectional cameras have been used for many applications such as SLAM [143] and 3D reconstruction [144].”
From A Survey of Autonomous Driving: <i>Common Practices and Emerging Technologies</i> (2020) · cites this paper as [144]
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 · see citing works
Multiple View Geometry in Computer Vision
Hartley, R., & Zisserman, A. (2004) · doi:10.1017/cbo9780511811685 · Cited by 21,070 · see citing works
SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L. (2006) · Lecture Notes in Computer Science · doi:10.1007/11744023_32 · Cited by 14,955 · see citing works
Two years of Visual Odometry on the Mars Exploration Rovers
Maimone, M., Cheng, Y., & Matthies, L. (2007) · Journal of Field Robotics · doi:10.1002/rob.20184 · Cited by 655 · see citing works
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A Survey of Autonomous Driving: <i>Common Practices and Emerging Technologies</i>
Yurtsever, E., Lambert, J., Carballo, A., & Takeda, K. (2020) · IEEE Access · doi:10.1109/access.2020.2983149 · Cited by 1,889 · see citing works
Scaramuzza, D., & Fraundorfer, F. (2011) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2011.943233 · Cited by 1,550 · see citing works
Self-citationSurvey of computer vision algorithms and applications for unmanned aerial vehicles
Al-Kaff, A., Martín, D., García, F., Escalera, A. D. L., & María Armingol, J. (2018) · Expert Systems with Applications · doi:10.1016/j.eswa.2017.09.033 · Cited by 246 · see citing works
Large-scale direct SLAM for omnidirectional cameras
Caruso, D., Engel, J., & Cremers, D. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353366 · Cited by 244 · see citing works
Computer vision in automated parking systems: Design, implementation and challenges
Heimberger, M., Horgan, J., Hughes, C., McDonald, J., & Yogamani, S. (2017) · Image and Vision Computing · doi:10.1016/j.imavis.2017.07.002 · Cited by 126 · see citing works
- Authors
- Scaramuzza, D., & Siegwart, R.
- Affiliations
- ETH Zurich (CH)
- Venue
- IEEE Transactions on Robotics
- Published
- 2008-10
- Volume
- 24
- Issue
- 5
- Pages
- 1015-1026
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2071626497
- Cited by
- 292
- References
- 4
- Citations by year
- 2025: 4 · 2024: 8 · 2023: 11 · 2022: 11 · 2021: 14 · 2020: 15 · 2019: 17 · 2018: 24 · 2017: 17 · 2016: 23 · 2015: 20 · 2014: 25 · 2013: 17 · 2012: 26
- FWCI
- 41.19
- Type
- journal article
- Language
- en
- Open access
- green
- hdl.handle.net
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- Repository for Publications and Research Data (ETH Zurich) (submittedVersion, other-oa)
- ETH Zürich Research Collection
- Funders
- European Commission (FP6-IST-027140)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Keywords
- visual odometry, omnidirectional camera, monocular vision, camera motion estimation, scale-invariant features, ground plane detection, camera trajectory estimation, image stitching, real-time tracking
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