Kinematic constraints in visual odometry of intelligent vehicles

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn , Issue , 2012, Pages 1126-1131

  Jiang, Yanhua ^a   Chen, Huiyan ^a   Xiong, Guangming ^a   Gong, Jianwei ^b   Jiang, Yan ^b  

^a BEIJING INSTITUTE OF TECHNOLOGY   (China)

^b NONE

Author keywords

[No Author keywords available]

Indexed keywords

CUBIC EQUATIONS; KINEMATIC CONSTRAINTS; MOTION ESTIMATION ALGORITHM; MOTION PARAMETERS; REAL ROOTS; SIMULATION PLATFORM; VISUAL ODOMETRY;

ALGORITHMS; KINEMATICS; MOTION ESTIMATION;

INTELLIGENT VEHICLE HIGHWAY SYSTEMS;

EID: 84865011262     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2012.6232230     Document Type: Conference Paper

References (19)

1. Gongwei Wu. Research on Key Technologies in Stereo Visual Odometry[D]. Zhejiang: Zhejiang University, 2007.(in Chinese)
2. H.Moravec. Obstacle Avoidance and Navigation in the Real World by a. Seeing Robot Rover[D]. Stanford: Univ. of Stanford, 1980.
3. D. Scaramuzza. 1-Point-RANSAC Structure from Motion for Vehicle-Mounted Cameras by Exploiting Non-holonomic Constraints. International Journal of Computer Vision, Vo1.95, pp.74-85, 2011
4. M. Maimone, Y. Cheng, and L. Matthies. Two years of visual odometry on the mars exploration rovers. Journal of Field Robotics, 24(3):169-186, 2007.
5. C. J. Taylor and D. J. Kriegman. Structure and Motion from Line Segments in Multiple Images[J]. IEEE Trans. on Pattern Anal. Mach. Intell., 1995, 17(11): 1021-1032.
6. Kwan-Yee K.Wong, Paulo R.S. Mendonca, Roberto Cipolla. Structure and motion estimation from apparent contours under circular motion[J]. Image and Vision Computing, 2002, 20: 441-448.
7. V. Pradeep, J. Lim. Egomotion using Assorted Features. IEEE Conference on Computer Vision and Pattern Recognition, pp.1514-1521, 2010
8. H. Stéwenius, C. Engels, and D. Nistér. Recent Developments on Direct Relative Orientation. ISPRS Journal of Photogrammetry and Remote Sensing, 60:284-294, 2006
9. Martin A. Fischler and Robert C. Bolles. Random Sample Consensus: A Paradigm for Model Fitting with Apphcatlons to Image Analysis and Automated Cartography. Graphics and Image Processing, Vol.24, No.6, 1981
10. D. Scaramuzza, F. Fraundorfer, and R. Siegwart. Real-Time Monocular Visual Odometry for On-Road Vehicles with 1-Point RANSAC. ICRA, 2009
11. D. Scaramuzza, A. Censi, K. Daniilidis. Exploiting Motion Priors in Visual Odometry for Vehicle-Mounted Cameras with Non-holonomic Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, 2011
12. N. Nourani-Vatani, J. Roberts, and M. V. Srinivasan. Practical Visual Odometry for Car-like Vehicles. ICRA, 2009
13. A. Kelly. Essential Kinematics for Autonomous Vehicles. Technical Report CMU-RI-TR-94-14, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, May 1994.
14. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, ISBN 0-521-62304-9, 2000.
15. D. Nistér. An Efficient Solution to the Five-Point Relative Pose Problem[J]. IEEE Trans. on Pattern Anal. Mach. Intell., 2004, 26(6): 756-770.
16. W.Press, S.Teukolsky, W.Vetteriing, and B.Flannery. Numerical recipes in C. New York: Cambridge University Press.1988.
17. J Oliensis. Yakup Genc. New Algorithms for Two-Frame Structure from Motion, ICCV, pp.737-744, 1999
18. R. Hartley, A.Zisserman. Multiple view geometry in computer vision. New York: Cambridge University Press.2000
19. Camera Calibration Toolbox for Matlab, Available: http://www.vision. caltech.edu/bouguetj/calib-doc/