Technology advances in the field of Intelligent Transportation Systems are rapidly increasing to obtain higher autonomy levels, and improve the robustness and reliability of autonomous driving. One of the challenges related to autonomous vehicles is the localization systems especially in GPS-denied environments. This paper presents an enhancement in the monocular visual odometry by exploring the use of one external sensor (encoder); in order to obtain the vehicle speed with computer vision techniques to provide a reliable and real time localization system. The proposed algorithm has been validated by performing real experiments, and the obtained results show the improvement in accuracy comparing to existing stereo visual odometry algorithm, with lower error in translation and rotation of the path points.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Ground Vehicle Monocular Visual Odometry


    Beteiligte:
    Sabry, Mohamed (Autor:in) / Al-Kaff, Abdulla (Autor:in) / Hussein, Ahmed (Autor:in) / Abdennadher, Slim (Autor:in)


    Erscheinungsdatum :

    01.10.2019


    Format / Umfang :

    818637 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    GROUND VEHICLE MONOCULAR VISUAL-INERTIAL ODOMETRY VIA LOCALLY FLAT CONSTRAINTS

    RAMIREZ LLANOS EDUARDO JOSE / YU XIN / VERMA DHIREN | Europäisches Patentamt | 2022

    Freier Zugriff

    Ground-Plane-Based Absolute Scale Estimation for Monocular Visual Odometry

    Zhou, Dingfu / Dai, Yuchao / Li, Hongdong | IEEE | 2020


    Monocular Outlier Detection for Visual Odometry

    Buczko, Martin / Willert, Volker | British Library Conference Proceedings | 2017


    Multimodal scale estimation for monocular visual odometry

    Fanani, Nolang / Sturck, Alina / Barnada, Marc et al. | IEEE | 2017


    Robust Monocular Visual Odometry by Uncertainty Voting

    Van Hamme, D. / Peter, V. / Philips, W. et al. | British Library Conference Proceedings | 2011