This paper describes a method for estimating the vehicle global position in a network of roads by means of visual odometry. To do so, the ego-motion of the vehicle relative to the road is computed using a stereo-vision system mounted next to the rear view mirror. Feature points are matched between pairs of frames and linked into 3D trajectories. The resolution of the equations of the system at each frame is carried out under the non-linear, photogrametric aproach using RANSAC. This iterative technique enables the formulation of a robust method that can ignore large numbers of outliers as encountered in real traffic scenes. The resulting method is defined as visual odometry and can be used in conjunction with other sensors, such as GPS, to produce accurate estimates of the vehicle global position. The obvious application of the method is to provide on-board driver assistance in navigation tasks, or to provide a means for autonomously navigating a vehicle. The method has been tested in real traffic conditions without using prior knowledge about the scene nor the vehicle motion. We provide examples of estimated vehicle trajectories using the proposed method and discuss the key issues for further improvement.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    3D Visual Odometry for GPS Navigation Assistance


    Beteiligte:
    Garcia-Garcia, R. G. (Autor:in) / Sotelo, M. A. (Autor:in) / Parra, I. (Autor:in) / Fernandez, D. (Autor:in) / Gavilan, M. (Autor:in)


    Erscheinungsdatum :

    01.06.2007


    Format / Umfang :

    630760 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    3D Visual Odometry for GPS Navigation Assistance

    Garcya-Garcya, R.G. / Sotelo, M.A. / Parra, I. et al. | British Library Conference Proceedings | 2007


    AUTONOMOUS NAVIGATION USING VISUAL ODOMETRY

    LIAO MIAO / LI MING / HONG SOONHAC | Europäisches Patentamt | 2017

    Freier Zugriff

    Communicationless navigation through robust visual odometry

    Van Hamme, David / Veelaert, Peter / Philips, Wilfried | IEEE | 2012


    Visual Odometry for Autonomous Deep-Space Navigation

    Robinson, Shane / Pedrotty, Sam | NTRS | 2016


    Comparison of Wheel Odometry and Visual Odometry for Low-Cost Vehicle Navigation

    Lima Rezende, Gabriel / Silva, Felipe O. / Marques, Leomar S. | IEEE | 2024