Structure from motion refers to a technique to obtain 3D information from consecutive images taken with a moving monocular camera. In order to do this, the camera motion performed between the taken images needs to be known. In the work reported in this contribution, it is investigated whether or not the uncertainty of the odometry data available on the CAN bus of a commercially available passenger car is sufficient to perform this task. In order to identify the required uncertainty, an error model has been developed based on camera parameters and the bicycle model. Two options are investigated, both being based on speed measurements. The first option combines them with steering angle measurements, the other with measurements of the yaw rate. Concluding, it is found out that the specified uncertainty of all odometry data available is sufficient to solve structure from motion. Long-term measurements empirically confirm the uncertainty values given in the specification. Further work needs to be carried out in order to compensate for roll movements.
On the feasibility of odometry-based structure from motion
Zur Verwendbarkeit der Geschwindigkeitserfassung aus der Bewegung
2001
6 Seiten, 12 Bilder, 4 Quellen
Conference paper
English
Odometry-Based Structure from Motion
IEEE | 2007
|Odometry-Based Structure from Motion
British Library Conference Proceedings | 2007
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