Trabajo presentado al ACRA 2009 celebrado en Sydney (Australia) del 2 al 4 de diciembre. ; This paper presents a system for egomotion estimation using a stereo head camera. The camera motion estimation is based on features tracked along a video sequence. The system also estimates the tridimensional geometry of the environment by fusing the visual information from multiple views. Furthermore, the paper presents comparisons between two different algorithms. The first one is by applying triangulation to 3D points. Motion estimation using 3D points suffers from the problem of nonisotropic noise due to the large uncertainty in depth estimation. To deal with this problem we present results with a second approach that works directly in the disparity space. Experimental results using a mobile platform are presented. The experiments cover long distances in urban-like environments with the presence of dynamic objects. The system presented is part of a bigger project involving autonomous navigation using vision only. ; This work has been supported in part by CONACYT and SEP Mexico, the Rio Tinto Centre for Mine Automation, the ARC Centre of Excellence programme, funded by the Australian Research Council (ARC) and the New South Wales State Government, and the Spanish Ministry of Innovation and Science. ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Large scale visual odometry using stereo vision



    Erscheinungsdatum :

    01.01.2009


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Uncertainty Estimation for Stereo Visual Odometry

    Ross, Derek / De Petrillo, Matteo / Strader, Jared et al. | British Library Conference Proceedings | 2021


    Stereo visual odometry failure recovery using monocular techniques

    Giubilato, Riccardo / Chiodini, Sebastiano / Pertile, Marco et al. | IEEE | 2017


    Robust stereo visual odometry from monocular techniques

    Persson, Mikael / Piccini, Tommaso / Felsberg, Michael et al. | IEEE | 2015


    Measurement Error Detection for Stereo Visual Odometry Integrity

    Yuanwen Fu / Shizhuang Wang / Yawei Zhai et al. | DOAJ | 2022

    Freier Zugriff

    Multispectral Stereo Odometry

    Mouats, Tarek | Online Contents | 2015