While monocular visual odometry has been widely investigated, one of its key issues restrains its broad appliance: the scale drift. To tackle it, we leverage scene inherent information about the ground plane to estimate the scale for usage on Advanced Driver Assistance Systems. The algorithm is conceived so that it is independent of the unscaled ego-motion estimation, augmenting its adaptability to other frameworks. A ground plane estimation using Structure From Motion techniques is complemented by a vanishing point estimation to render our algorithm robust in urban scenarios. The method is evaluated on the KITTI dataset, outperforming state of the art algorithms in areas where urban scenery is dominant.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust scale estimation for monocular visual odometry using structure from motion and vanishing points


    Beteiligte:
    Grater, Johannes (Autor:in) / Schwarze, Tobias (Autor:in) / Lauer, Martin (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    842636 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multimodal scale estimation for monocular visual odometry

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


    Robust stereo visual odometry from monocular techniques

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


    Robust Monocular Visual Odometry by Uncertainty Voting

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


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

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


    Ground Vehicle Monocular Visual Odometry

    Sabry, Mohamed / Al-Kaff, Abdulla / Hussein, Ahmed et al. | IEEE | 2019